Glider dive log

DavisStrait Sep08 * SG108 * Dive index * Mission links * Dive 647 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 108 HEADING 85 PITCH_ADJ_DBAND 1 ALTIM_TOP_TURN_MARGIN 5

MISSION 11 ESCAPE_HEADING 80 ROLL_MIN 294 ALTIM_TOP_MIN_OBSTACLE 1.8

DIVE 647 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 31 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 500 CALL_NDIVES 1 R_STBD_OVSHOOT 30 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 1 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 -128979.77 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 60 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 0 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 60 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 -128979.77

CAPMAXSIZE 100000 HD_C 2.7999999e-06 RHO 1.02765 T_MISSION 550

CAPUPLOAD 0 HEADING 85 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 1

C_ROLL_DIVE 2230 MASS 51779 R_PORT_OVSHOOT 31 VBD_BLEED_AD_RATE 8

C_VBD 2650 MAX_BUOY 150 R_STBD_OVSHOOT 30 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 0 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 647 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 073938,6603.016,-5838.565,25,1.1,25,-36.7 TGT_NAME HEADING

_CALLS 3 TGT_LATLONG 6603.958,-5812.047

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.91 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo 0.9 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 073938,6603.016,-5838.565,25,1.1,25,-36.7 MHEAD_RNG_PITCHd_Wd 121.7,20000,-13.0,-7.021

SPEED_LIMITS 0.122,0.233 D_GRID 516

Post-dive calculations and measurements:

FREEZE 1.56,-0.928,-1.808 XPDR_PINGS 107

FINISH 1.6,1.026514 _24V_AH 21.8,98.451

SM_CCo 13787,0.00,0.000,0,0,1330,323.80 _10V_AH 10.4,43.599

SM_GC 2.60,7.12,0.00,0.00,0.059,0.000,0.000,331,2235,1330,-10.70,0.14,323.80 DATA_FILE_SIZE 28385,809

RAFOS_CLK 593 CAP_FILE_SIZE 106128,0

RAFOS 0,1231502699,12.083333,12.083055,61,56,55,54,50,49,158,202,171,220,140,122 CFSIZE 260165632,212316160

RAFOS_FIX 6617.756348,-5909.147949,080109,000040,2,99,0.64 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

IRIDIUM_FIX 6537.93,-5836.74,050498,070722 SOUNDSPEED 1455.7

TT8_MAMPS 0.026845 GPS 090109,073938,6603.016,-5838.565,25,1.1,25,-36.7

HUMID 1810 ESCAPE_REASON NO_RECENT_FIX

INTERNAL_PRESSURE 9.87343 ESCAPE_STARTED_DIVE 581

TCM_TEMP 15.80

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 15 177 60.45 SBE_CT 563 24 295.05

Roll_motor 109 70 168.71 SBE_O2 0 0 0.00

VBD_pump_during_apogee 407 1138 10118.26 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 26 420 244.92

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 0 50 0.00

TT8 1466 19 303.91

LPSleep 10090 2 242.40

TT8_Active 509 19 105.51

TT8_Sampling 1472 39 611.52

TT8_CF8 311 45 148.63

TT8_Kalman 0 0 0.00

Analog_circuits 1347 12 168.16

GPS_charging 0 0 0.00

Compass 1468 8 122.19

RAFOS 1800 1 28.08

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

11 end surface: CONTROL_FINISHED_OK

state 12 begin dive

17 -0.99 -146.0 0.0 0.0 0 130 0.00 0.00 -110.80 0.000 6 0.000 0.000 2984 1715 3247

135 -0.99 -146.0 2.6 -1.2 20 143 1.65 3.10 0.00 0.000 4 0.139 0.065 2461 3604 3249

167 -1.75 -146.0 6.4 -9.8 25 174 0.47 2.17 0.00 0.000 6 0.056 0.049 2280 2210 3250

515 -0.99 -146.0 75.6 -20.6 86 522 0.62 2.20 0.00 0.000 4 0.177 0.058 2469 821 3250

573 -0.83 -146.0 81.8 -9.6 95 580 0.15 2.28 0.00 0.000 6 0.135 0.058 2503 2230 3251

921 -0.83 -146.0 108.4 -7.9 143 922 0.00 0.00 0.00 0.000 6 0.000 0.000 2503 2230 3250

1232 -0.88 -146.0 125.6 -4.7 158 1236 0.00 2.28 0.00 0.000 4 0.000 0.060 2503 818 3249

1346 -0.88 -146.0 134.0 -7.6 163 1350 0.00 2.30 0.00 0.000 6 0.000 0.059 2495 2239 3249

1676 -0.88 -146.0 156.5 -6.5 179 1679 0.00 2.20 0.00 0.000 4 0.000 0.071 2485 3604 3249

1689 -0.88 -146.0 157.4 -6.2 179 1693 0.00 2.15 0.00 0.000 6 0.000 0.046 2485 2218 3249

2012 -0.88 -146.0 179.5 -6.6 195 2015 0.00 2.20 0.00 0.000 4 0.000 0.058 2485 820 3248

2082 -0.88 -146.0 184.9 -7.9 198 2086 0.00 2.28 0.00 0.000 6 0.000 0.058 2475 2237 3248

2415 -0.88 -146.0 209.7 -6.8 214 2419 0.00 2.17 0.00 0.000 4 0.000 0.070 2464 3597 3248

2427 -0.88 -146.0 210.4 -6.5 214 2432 0.10 2.12 0.00 0.000 6 0.143 0.045 2490 2218 3248

2751 -0.88 -146.0 230.1 -6.5 230 2755 0.00 2.25 0.00 0.000 4 0.000 0.067 2482 3595 3248

2763 -0.88 -146.0 231.2 -7.1 230 2767 0.00 2.12 0.00 0.000 6 0.000 0.043 2482 2217 3248

3086 -0.88 -146.0 254.6 -7.2 246 3089 0.00 2.25 0.00 0.000 4 0.000 0.067 2472 3596 3249

3098 -0.88 -146.0 255.4 -6.8 246 3102 0.00 2.12 0.00 0.000 6 0.000 0.044 2472 2217 3249

3421 -0.88 -146.0 276.9 -6.2 262 3425 0.00 2.25 0.00 0.000 4 0.000 0.067 2462 3599 3250

3468 -0.88 -146.0 279.7 -6.1 264 3473 0.12 2.12 0.00 0.000 6 0.140 0.044 2495 2216 3250

3804 -0.95 -146.0 292.6 -3.3 280 3805 0.00 0.00 0.00 0.000 6 0.000 0.000 2496 2216 3250

4114 -1.02 -146.0 307.1 -5.1 295 4118 0.15 2.28 0.00 0.000 4 0.077 0.066 2423 3606 3250

4132 -1.02 -146.0 308.3 -5.9 296 4136 0.12 2.12 0.00 0.000 6 0.145 0.044 2458 2228 3250

4466 -0.97 -146.0 331.8 -7.2 312 4467 0.00 0.00 0.00 0.000 6 0.000 0.000 2458 2228 3250

4775 -0.92 -146.0 353.8 -7.1 327 4776 0.08 0.00 0.00 0.000 6 0.160 0.000 2480 2228 3250

5084 -0.92 -146.0 374.0 -6.5 342 5085 0.00 0.00 0.00 0.000 6 0.000 0.000 2480 2228 3250

5393 -0.92 -146.0 395.8 -7.4 357 5397 0.00 2.20 0.00 0.000 4 0.000 0.057 2480 830 3250

5410 -0.92 -146.0 397.2 -7.3 357 5416 0.00 2.28 0.00 0.000 6 0.000 0.055 2473 2243 3250

5743 -0.92 -146.0 419.9 -6.4 367 5744 0.00 0.00 0.00 0.000 6 0.000 0.000 2472 2242 3250

6069 -0.92 -146.0 438.6 -5.6 375 6070 0.00 0.00 0.00 0.000 6 0.000 0.000 2473 2243 3250

6393 -0.92 -146.0 456.2 -5.5 383 6394 0.00 0.00 0.00 0.000 6 0.000 0.000 2473 2242 3250

6718 -0.92 -146.0 475.2 -5.9 391 6719 0.00 0.00 0.00 0.000 6 0.000 0.000 2473 2243 3250

7043 -0.92 -146.0 495.2 -6.3 399 7044 0.00 0.00 0.00 0.000 6 0.000 0.000 2473 2242 3250

7369 -0.92 -146.0 515.8 -6.3 407 7373 0.00 2.22 0.00 0.000 4 0.000 0.070 2462 3606 3250

7377 end dive: TARGET_DEPTH_EXCEEDED

state 7377 begin apogee

7388 -0.31 0.0 516.6 6.2 407 7518 0.45 0.00 126.32 1.139 6 0.122 0.000 2609 1740 2650

7518 end apogee: CONTROL_FINISHED_OK

state 7519 begin climb

7522 0.99 146.0 519.2 0.0 410 7658 0.88 0.00 131.48 1.067 6 0.090 0.000 2896 1740 2054

7972 0.83 146.0 478.1 10.2 421 7974 0.15 0.00 0.00 0.000 6 0.126 0.000 2853 1740 2047

8297 0.83 146.0 450.2 8.5 429 8298 0.00 0.00 0.00 0.000 6 0.000 0.000 2853 1740 2046

8622 0.83 146.0 422.7 8.2 437 8626 0.00 2.30 0.00 0.000 4 0.000 0.063 2862 328 2046

8657 0.83 146.0 420.1 8.3 437 8661 0.00 2.28 0.00 0.000 6 0.000 0.050 2862 1740 2046

8975 0.77 146.0 395.7 7.7 446 8979 0.00 2.28 0.00 0.000 4 0.000 0.064 2862 3159 2045

9062 0.62 146.0 387.6 9.8 449 9069 0.20 2.25 0.00 0.000 6 0.127 0.049 2813 1727 2044

9380 0.75 146.0 365.0 7.2 465 9385 0.12 2.22 0.00 0.000 4 0.070 0.060 2882 335 2044

9414 0.66 146.0 361.6 9.8 466 9419 0.22 2.25 0.00 0.000 6 0.122 0.048 2815 1746 2044

9731 0.79 146.0 338.1 7.2 481 9735 0.12 2.25 0.00 0.000 4 0.072 0.061 2874 3149 2044

9839 0.58 146.0 326.6 10.9 485 9846 0.28 2.22 0.00 0.000 6 0.128 0.048 2803 1738 2043

10158 0.84 206.8 308.3 5.1 501 10216 0.20 0.00 50.70 1.004 6 0.058 0.000 2895 1738 1806

10527 0.71 206.8 273.2 9.6 519 10532 0.20 2.30 0.00 0.000 4 0.123 0.059 2839 327 1799

10568 0.88 216.0 270.3 6.7 521 10583 0.12 2.30 8.15 0.841 6 0.073 0.048 2900 1753 1769

10904 0.78 216.0 238.5 9.8 537 10909 0.20 2.25 0.00 0.000 4 0.125 0.061 2834 3156 1768

10955 0.78 216.0 233.5 8.6 539 10958 0.00 2.25 0.00 0.000 6 0.000 0.047 2841 1724 1766

11277 0.90 216.0 207.0 8.3 555 11281 0.12 2.25 0.00 0.000 4 0.076 0.058 2912 324 1766

11317 0.79 216.0 202.5 12.5 556 11324 0.22 2.28 0.00 0.000 6 0.126 0.048 2846 1749 1767

11636 0.91 216.0 176.5 7.5 572 11640 0.12 2.25 0.00 0.000 4 0.074 0.061 2905 3163 1766

11715 0.70 216.0 167.0 13.2 575 11723 0.28 2.22 0.00 0.000 6 0.126 0.047 2833 1730 1765

12033 0.97 273.0 145.2 5.2 591 12089 0.17 2.33 49.83 0.890 4 0.063 0.060 2925 337 1537

12151 0.89 273.0 135.4 9.3 596 12155 0.20 2.25 0.00 0.000 6 0.127 0.046 2867 1753 1535

12479 1.08 320.2 114.6 5.5 612 12525 0.15 2.28 41.03 0.851 4 0.066 0.061 2935 3155 1344

12637 0.91 320.2 95.7 13.8 622 12644 0.25 2.25 0.00 0.000 6 0.123 0.047 2871 1725 1338

12985 1.14 320.2 72.3 7.1 683 12992 0.20 2.33 0.00 0.000 4 0.064 0.058 2962 3163 1336

13016 1.14 320.2 69.1 9.0 688 13023 0.17 2.22 0.00 0.000 6 0.137 0.048 2922 1739 1335

13364 1.14 320.2 34.3 7.4 749 13370 0.00 2.25 0.00 0.000 4 0.000 0.061 2929 335 1334

13445 1.14 320.2 28.0 7.9 763 13451 0.00 2.22 0.00 0.000 6 0.000 0.047 2929 1744 1334

13676 end climb: SURFACE_DEPTH_REACHED

state 13676 begin surface coast

13705 end surface coast: CONTROL_FINISHED_OK

state 13705 begin surface

ID	108	HEADING	85	PITCH_ADJ_DBAND	1	ALTIM_TOP_TURN_MARGIN	5
MISSION	11	ESCAPE_HEADING	80	ROLL_MIN	294	ALTIM_TOP_MIN_OBSTACLE	1.8
DIVE	647	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	31	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	500	CALL_NDIVES	1	R_STBD_OVSHOOT	30	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	1	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	-128979.77	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	60	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	0	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	073938,6603.016,-5838.565,25,1.1,25,-36.7	TGT_NAME	HEADING
_CALLS	3	TGT_LATLONG	6603.958,-5812.047
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.91	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	0.9	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	073938,6603.016,-5838.565,25,1.1,25,-36.7	MHEAD_RNG_PITCHd_Wd	121.7,20000,-13.0,-7.021
SPEED_LIMITS	0.122,0.233	D_GRID	516

FREEZE	1.56,-0.928,-1.808	XPDR_PINGS	107
FINISH	1.6,1.026514	_24V_AH	21.8,98.451
SM_CCo	13787,0.00,0.000,0,0,1330,323.80	_10V_AH	10.4,43.599
SM_GC	2.60,7.12,0.00,0.00,0.059,0.000,0.000,331,2235,1330,-10.70,0.14,323.80	DATA_FILE_SIZE	28385,809
RAFOS_CLK	593	CAP_FILE_SIZE	106128,0
RAFOS	0,1231502699,12.083333,12.083055,61,56,55,54,50,49,158,202,171,220,140,122	CFSIZE	260165632,212316160
RAFOS_FIX	6617.756348,-5909.147949,080109,000040,2,99,0.64	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
IRIDIUM_FIX	6537.93,-5836.74,050498,070722	SOUNDSPEED	1455.7
TT8_MAMPS	0.026845	GPS	090109,073938,6603.016,-5838.565,25,1.1,25,-36.7
HUMID	1810	ESCAPE_REASON	NO_RECENT_FIX
INTERNAL_PRESSURE	9.87343	ESCAPE_STARTED_DIVE	581
TCM_TEMP	15.80

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	15	177	60.45	SBE_CT	563	24	295.05
Roll_motor	109	70	168.71	SBE_O2	0	0	0.00
VBD_pump_during_apogee	407	1138	10118.26	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	26	420	244.92
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	0	50	0.00
TT8	1466	19	303.91
LPSleep	10090	2	242.40
TT8_Active	509	19	105.51
TT8_Sampling	1472	39	611.52
TT8_CF8	311	45	148.63
TT8_Kalman	0	0	0.00
Analog_circuits	1347	12	168.16
GPS_charging	0	0	0.00
Compass	1468	8	122.19
RAFOS	1800	1	28.08
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
11	end surface: CONTROL_FINISHED_OK
state	12	begin dive
17	-0.99	-146.0	0.0	0.0	0	130	0.00	0.00	-110.80	0.000	6	0.000	0.000	2984	1715	3247
135	-0.99	-146.0	2.6	-1.2	20	143	1.65	3.10	0.00	0.000	4	0.139	0.065	2461	3604	3249
167	-1.75	-146.0	6.4	-9.8	25	174	0.47	2.17	0.00	0.000	6	0.056	0.049	2280	2210	3250
515	-0.99	-146.0	75.6	-20.6	86	522	0.62	2.20	0.00	0.000	4	0.177	0.058	2469	821	3250
573	-0.83	-146.0	81.8	-9.6	95	580	0.15	2.28	0.00	0.000	6	0.135	0.058	2503	2230	3251
921	-0.83	-146.0	108.4	-7.9	143	922	0.00	0.00	0.00	0.000	6	0.000	0.000	2503	2230	3250
1232	-0.88	-146.0	125.6	-4.7	158	1236	0.00	2.28	0.00	0.000	4	0.000	0.060	2503	818	3249
1346	-0.88	-146.0	134.0	-7.6	163	1350	0.00	2.30	0.00	0.000	6	0.000	0.059	2495	2239	3249
1676	-0.88	-146.0	156.5	-6.5	179	1679	0.00	2.20	0.00	0.000	4	0.000	0.071	2485	3604	3249
1689	-0.88	-146.0	157.4	-6.2	179	1693	0.00	2.15	0.00	0.000	6	0.000	0.046	2485	2218	3249
2012	-0.88	-146.0	179.5	-6.6	195	2015	0.00	2.20	0.00	0.000	4	0.000	0.058	2485	820	3248
2082	-0.88	-146.0	184.9	-7.9	198	2086	0.00	2.28	0.00	0.000	6	0.000	0.058	2475	2237	3248
2415	-0.88	-146.0	209.7	-6.8	214	2419	0.00	2.17	0.00	0.000	4	0.000	0.070	2464	3597	3248
2427	-0.88	-146.0	210.4	-6.5	214	2432	0.10	2.12	0.00	0.000	6	0.143	0.045	2490	2218	3248
2751	-0.88	-146.0	230.1	-6.5	230	2755	0.00	2.25	0.00	0.000	4	0.000	0.067	2482	3595	3248
2763	-0.88	-146.0	231.2	-7.1	230	2767	0.00	2.12	0.00	0.000	6	0.000	0.043	2482	2217	3248
3086	-0.88	-146.0	254.6	-7.2	246	3089	0.00	2.25	0.00	0.000	4	0.000	0.067	2472	3596	3249
3098	-0.88	-146.0	255.4	-6.8	246	3102	0.00	2.12	0.00	0.000	6	0.000	0.044	2472	2217	3249
3421	-0.88	-146.0	276.9	-6.2	262	3425	0.00	2.25	0.00	0.000	4	0.000	0.067	2462	3599	3250
3468	-0.88	-146.0	279.7	-6.1	264	3473	0.12	2.12	0.00	0.000	6	0.140	0.044	2495	2216	3250
3804	-0.95	-146.0	292.6	-3.3	280	3805	0.00	0.00	0.00	0.000	6	0.000	0.000	2496	2216	3250
4114	-1.02	-146.0	307.1	-5.1	295	4118	0.15	2.28	0.00	0.000	4	0.077	0.066	2423	3606	3250
4132	-1.02	-146.0	308.3	-5.9	296	4136	0.12	2.12	0.00	0.000	6	0.145	0.044	2458	2228	3250
4466	-0.97	-146.0	331.8	-7.2	312	4467	0.00	0.00	0.00	0.000	6	0.000	0.000	2458	2228	3250
4775	-0.92	-146.0	353.8	-7.1	327	4776	0.08	0.00	0.00	0.000	6	0.160	0.000	2480	2228	3250
5084	-0.92	-146.0	374.0	-6.5	342	5085	0.00	0.00	0.00	0.000	6	0.000	0.000	2480	2228	3250
5393	-0.92	-146.0	395.8	-7.4	357	5397	0.00	2.20	0.00	0.000	4	0.000	0.057	2480	830	3250
5410	-0.92	-146.0	397.2	-7.3	357	5416	0.00	2.28	0.00	0.000	6	0.000	0.055	2473	2243	3250
5743	-0.92	-146.0	419.9	-6.4	367	5744	0.00	0.00	0.00	0.000	6	0.000	0.000	2472	2242	3250
6069	-0.92	-146.0	438.6	-5.6	375	6070	0.00	0.00	0.00	0.000	6	0.000	0.000	2473	2243	3250
6393	-0.92	-146.0	456.2	-5.5	383	6394	0.00	0.00	0.00	0.000	6	0.000	0.000	2473	2242	3250
6718	-0.92	-146.0	475.2	-5.9	391	6719	0.00	0.00	0.00	0.000	6	0.000	0.000	2473	2243	3250
7043	-0.92	-146.0	495.2	-6.3	399	7044	0.00	0.00	0.00	0.000	6	0.000	0.000	2473	2242	3250
7369	-0.92	-146.0	515.8	-6.3	407	7373	0.00	2.22	0.00	0.000	4	0.000	0.070	2462	3606	3250
7377	end dive: TARGET_DEPTH_EXCEEDED
state	7377	begin apogee
7388	-0.31	0.0	516.6	6.2	407	7518	0.45	0.00	126.32	1.139	6	0.122	0.000	2609	1740	2650
7518	end apogee: CONTROL_FINISHED_OK
state	7519	begin climb
7522	0.99	146.0	519.2	0.0	410	7658	0.88	0.00	131.48	1.067	6	0.090	0.000	2896	1740	2054
7972	0.83	146.0	478.1	10.2	421	7974	0.15	0.00	0.00	0.000	6	0.126	0.000	2853	1740	2047
8297	0.83	146.0	450.2	8.5	429	8298	0.00	0.00	0.00	0.000	6	0.000	0.000	2853	1740	2046
8622	0.83	146.0	422.7	8.2	437	8626	0.00	2.30	0.00	0.000	4	0.000	0.063	2862	328	2046
8657	0.83	146.0	420.1	8.3	437	8661	0.00	2.28	0.00	0.000	6	0.000	0.050	2862	1740	2046
8975	0.77	146.0	395.7	7.7	446	8979	0.00	2.28	0.00	0.000	4	0.000	0.064	2862	3159	2045
9062	0.62	146.0	387.6	9.8	449	9069	0.20	2.25	0.00	0.000	6	0.127	0.049	2813	1727	2044
9380	0.75	146.0	365.0	7.2	465	9385	0.12	2.22	0.00	0.000	4	0.070	0.060	2882	335	2044
9414	0.66	146.0	361.6	9.8	466	9419	0.22	2.25	0.00	0.000	6	0.122	0.048	2815	1746	2044
9731	0.79	146.0	338.1	7.2	481	9735	0.12	2.25	0.00	0.000	4	0.072	0.061	2874	3149	2044
9839	0.58	146.0	326.6	10.9	485	9846	0.28	2.22	0.00	0.000	6	0.128	0.048	2803	1738	2043
10158	0.84	206.8	308.3	5.1	501	10216	0.20	0.00	50.70	1.004	6	0.058	0.000	2895	1738	1806
10527	0.71	206.8	273.2	9.6	519	10532	0.20	2.30	0.00	0.000	4	0.123	0.059	2839	327	1799
10568	0.88	216.0	270.3	6.7	521	10583	0.12	2.30	8.15	0.841	6	0.073	0.048	2900	1753	1769
10904	0.78	216.0	238.5	9.8	537	10909	0.20	2.25	0.00	0.000	4	0.125	0.061	2834	3156	1768
10955	0.78	216.0	233.5	8.6	539	10958	0.00	2.25	0.00	0.000	6	0.000	0.047	2841	1724	1766
11277	0.90	216.0	207.0	8.3	555	11281	0.12	2.25	0.00	0.000	4	0.076	0.058	2912	324	1766
11317	0.79	216.0	202.5	12.5	556	11324	0.22	2.28	0.00	0.000	6	0.126	0.048	2846	1749	1767
11636	0.91	216.0	176.5	7.5	572	11640	0.12	2.25	0.00	0.000	4	0.074	0.061	2905	3163	1766
11715	0.70	216.0	167.0	13.2	575	11723	0.28	2.22	0.00	0.000	6	0.126	0.047	2833	1730	1765
12033	0.97	273.0	145.2	5.2	591	12089	0.17	2.33	49.83	0.890	4	0.063	0.060	2925	337	1537
12151	0.89	273.0	135.4	9.3	596	12155	0.20	2.25	0.00	0.000	6	0.127	0.046	2867	1753	1535
12479	1.08	320.2	114.6	5.5	612	12525	0.15	2.28	41.03	0.851	4	0.066	0.061	2935	3155	1344
12637	0.91	320.2	95.7	13.8	622	12644	0.25	2.25	0.00	0.000	6	0.123	0.047	2871	1725	1338
12985	1.14	320.2	72.3	7.1	683	12992	0.20	2.33	0.00	0.000	4	0.064	0.058	2962	3163	1336
13016	1.14	320.2	69.1	9.0	688	13023	0.17	2.22	0.00	0.000	6	0.137	0.048	2922	1739	1335
13364	1.14	320.2	34.3	7.4	749	13370	0.00	2.25	0.00	0.000	4	0.000	0.061	2929	335	1334
13445	1.14	320.2	28.0	7.9	763	13451	0.00	2.22	0.00	0.000	6	0.000	0.047	2929	1744	1334
13676	end climb: SURFACE_DEPTH_REACHED
state	13676	begin surface coast
13705	end surface coast: CONTROL_FINISHED_OK
state	13705	begin surface