Glider dive log

DavisStrait Sep08 * SG108 * Dive index * Mission links * Dive 668 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 108 HEADING -1 PITCH_ADJ_DBAND 1 ALTIM_TOP_TURN_MARGIN 5

MISSION 11 ESCAPE_HEADING 15 ROLL_MIN 294 ALTIM_TOP_MIN_OBSTACLE 1.8

DIVE 668 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 35 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 500 CALL_NDIVES 1 R_STBD_OVSHOOT 35 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 -130972.91 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 15 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 -130972.91

CAPMAXSIZE 100000 HD_C 2.7999999e-06 RHO 1.02765 T_MISSION 550

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_NO_W 120

CF8_MAXERRORS 0 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_RSLEEP 60

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 275 T_TURN 225

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.1 ROLL_CNV 0.028270001 T_TURN_SAMPINT 5

COMPASS_DEVICE 33 ID 108 ROLL_DEG 40 T_WATCHDOG 10

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3598 UNCOM_BLEED 20

COURSE_BIAS 0 INT_PRESSURE_YINT 0 ROLL_MAXERRORS 0 UPLOAD_DIVES_MAX 5

C_PITCH 2680 KALMAN_USE 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 35 VBD_BLEED_AD_RATE 8

C_VBD 2650 MAX_BUOY 150 R_STBD_OVSHOOT 35 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 668 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 040802,6552.007,-5756.067,14,2.0,14,-36.3 TGT_NAME TARGET_E_IN

_CALLS 1 TGT_LATLONG 6703.000,-5648.000

_XMS_NAKs 0 TGT_RADIUS 10000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 2.00 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo 18.8 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 040802,6552.007,-5756.067,14,2.0,14,-36.3 MHEAD_RNG_PITCHd_Wd 56.8,140366,-13.0,-7.021

SPEED_LIMITS 0.122,0.233 D_GRID 526

Post-dive calculations and measurements:

FREEZE 1.20,-2.176,-0.119 TCM_TEMP 16.10

FINISH 1.2,1.001406 XPDR_PINGS 221

SM_CCo 15167,0.00,0.000,0,0,1231,348.08 _24V_AH 22.2,101.475

SM_GC 2.06,6.97,0.00,0.00,0.047,0.000,0.000,328,2246,1231,-10.70,0.45,348.08 _10V_AH 10.4,44.982

RAFOS_CLK 621 DATA_FILE_SIZE 31498,932

RAFOS 3,1231835646,8.583333,8.568334,67,65,58,55,53,50,790,221,84,179,139,151 CAP_FILE_SIZE 116279,0

RAFOS_FIX 6617.756348,-5909.147949,080109,000040,2,99,0.64 CFSIZE 260165632,211054592

IRIDIUM_FIX 6506.88,-6335.43,080498,191956 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TT8_MAMPS 0.028379 SOUNDSPEED 1460.9

HUMID 1776 GPS 130109,124126,6552.254,-5749.772,30,4.4,49,-36.3

INTERNAL_PRESSURE 9.88319

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 15 140 48.84 SBE_CT 648 24 345.46

Roll_motor 104 65 152.62 SBE_O2 0 0 0.00

VBD_pump_during_apogee 427 1112 10562.14 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 55 420 515.15

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 0 50 0.00

TT8 1675 19 347.13

LPSleep 11040 2 265.24

TT8_Active 515 19 106.75

TT8_Sampling 1670 39 693.65

TT8_CF8 325 45 155.58

TT8_Kalman 0 0 0.00

Analog_circuits 1421 12 177.42

GPS_charging 0 0 0.00

Compass 1659 8 138.04

RAFOS 2160 1 33.70

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

17 -0.99 -146.0 0.0 0.0 0 91 0.00 0.00 -71.22 0.000 6 0.000 0.000 2966 1751 3247

96 -0.99 -146.0 2.5 -1.2 13 103 1.42 1.52 0.00 0.000 4 0.079 0.054 2459 811 3248

167 -0.71 -146.0 9.2 -9.2 25 174 0.28 2.28 0.00 0.000 6 0.139 0.053 2526 2237 3249

515 -0.76 -146.0 35.5 -7.0 86 521 0.00 0.00 0.00 0.000 6 0.000 0.000 2526 2237 3249

861 -0.82 -146.0 62.7 -7.5 147 868 0.10 2.30 0.00 0.000 4 0.087 0.054 2480 818 3248

989 -0.69 -146.0 73.9 -8.0 169 996 0.20 2.30 0.00 0.000 6 0.134 0.055 2526 2244 3248

1337 -0.79 -146.0 93.7 -6.1 230 1343 0.00 2.30 0.00 0.000 4 0.000 0.056 2526 820 3246

1481 -0.87 -146.0 102.8 -6.5 249 1485 0.10 2.28 0.00 0.000 6 0.077 0.055 2471 2235 3246

1815 -0.81 -146.0 128.0 -7.7 265 1819 0.12 2.20 0.00 0.000 4 0.140 0.066 2496 3597 3245

1866 -0.88 -146.0 132.3 -8.1 267 1870 0.00 2.15 0.00 0.000 6 0.000 0.044 2496 2208 3244

2194 -0.94 -146.0 154.9 -6.7 283 2196 0.00 0.00 0.00 0.000 6 0.000 0.000 2496 2208 3243

2504 -0.94 -146.0 174.0 -5.7 298 2508 0.00 2.17 0.00 0.000 4 0.000 0.056 2495 820 3243

2699 -0.94 -146.0 185.4 -6.3 306 2703 0.00 2.28 0.00 0.000 6 0.000 0.054 2487 2237 3243

3023 -0.94 -146.0 201.5 -4.8 322 3024 0.00 0.00 0.00 0.000 6 0.000 0.000 2487 2237 3243

3330 -0.94 -146.0 216.3 -4.9 337 3331 0.00 0.00 0.00 0.000 6 0.000 0.000 2487 2237 3243

3641 -0.94 -146.0 232.5 -5.5 352 3645 0.00 2.25 0.00 0.000 4 0.000 0.052 2487 824 3244

3743 -0.94 -146.0 238.6 -6.1 356 3747 0.00 2.28 0.00 0.000 6 0.000 0.051 2477 2243 3244

4066 -0.94 -146.0 259.3 -7.1 372 4067 0.00 0.00 0.00 0.000 6 0.000 0.000 2477 2243 3244

4375 -0.94 -146.0 280.4 -6.9 387 4377 0.00 0.00 0.00 0.000 6 0.000 0.000 2477 2243 3245

4685 -0.94 -146.0 300.2 -6.1 402 4689 0.00 2.25 0.00 0.000 4 0.000 0.051 2477 820 3246

4756 -0.94 -146.0 304.6 -6.1 405 4760 0.00 2.28 0.00 0.000 6 0.000 0.050 2467 2243 3246

5092 -0.94 -146.0 323.3 -5.1 421 5093 0.00 0.00 0.00 0.000 6 0.000 0.000 2467 2243 3247

5400 -0.94 -146.0 339.7 -5.6 436 5402 0.00 0.00 0.00 0.000 6 0.000 0.000 2467 2243 3247

5709 -0.94 -146.0 358.1 -5.9 451 5710 0.00 0.00 0.00 0.000 6 0.000 0.000 2467 2243 3248

6018 -0.94 -146.0 375.5 -5.5 466 6022 0.00 2.30 0.00 0.000 4 0.000 0.050 2467 811 3248

6105 -0.86 -146.0 380.7 -5.9 469 6111 0.15 2.33 0.00 0.000 6 0.124 0.048 2500 2243 3248

6422 -0.97 -146.0 394.4 -4.3 485 6424 0.12 0.00 0.00 0.000 6 0.075 0.000 2443 2243 3249

6729 -0.87 -146.0 413.0 -6.2 495 6731 0.17 0.00 0.00 0.000 6 0.137 0.000 2493 2243 3249

7053 -0.96 -146.0 428.7 -4.7 503 7057 0.00 2.28 0.00 0.000 4 0.000 0.050 2494 816 3249

7122 -0.96 -146.0 432.4 -5.5 504 7125 0.00 2.30 0.00 0.000 6 0.000 0.049 2486 2236 3249

7472 -1.01 -146.0 449.8 -4.9 513 7474 0.10 0.00 0.00 0.000 6 0.077 0.000 2434 2236 3249

7797 -0.87 -146.0 471.2 -6.7 521 7798 0.20 0.00 0.00 0.000 6 0.134 0.000 2493 2236 3249

8122 -0.95 -146.0 486.9 -4.9 529 8125 0.00 2.25 0.00 0.000 4 0.000 0.050 2493 825 3249

8196 -0.95 -146.0 491.0 -5.2 530 8201 0.00 2.28 0.00 0.000 6 0.000 0.050 2485 2233 3249

8540 -0.95 -146.0 508.7 -5.2 539 8542 0.00 0.00 0.00 0.000 6 0.000 0.000 2485 2233 3250

8866 -1.01 -146.0 525.7 -5.0 547 8870 0.10 2.20 0.00 0.000 4 0.078 0.062 2422 3602 3249

8874 end dive: TARGET_DEPTH_EXCEEDED

state 8874 begin apogee

8886 -0.31 0.0 526.4 5.0 547 9015 0.55 0.00 125.38 1.113 6 0.125 0.000 2608 1729 2650

9016 end apogee: CONTROL_FINISHED_OK

state 9016 begin climb

9020 0.99 146.0 527.9 0.0 550 9153 0.88 0.00 129.38 1.045 6 0.089 0.000 2899 1729 2054

9472 0.81 146.0 482.7 10.7 561 9474 0.17 0.00 0.00 0.000 6 0.125 0.000 2847 1729 2048

9794 0.81 146.0 457.2 7.6 569 9798 0.00 2.30 0.00 0.000 4 0.000 0.058 2847 3149 2046

9828 0.71 146.0 454.1 9.2 569 9832 0.00 2.20 0.00 0.000 6 0.000 0.044 2855 1731 2045

10166 0.71 146.0 427.8 7.5 578 10170 0.00 2.30 0.00 0.000 4 0.000 0.057 2855 3156 2045

10190 0.61 146.0 425.8 8.0 578 10194 0.20 2.20 0.00 0.000 6 0.123 0.043 2806 1732 2045

10540 0.82 188.8 406.7 5.6 587 10578 0.17 0.00 36.25 1.035 6 0.058 0.000 2891 1731 1880

10889 0.65 188.8 367.4 11.7 602 10891 0.25 0.00 0.00 0.000 6 0.120 0.000 2815 1732 1874

11198 0.83 204.4 345.2 6.5 617 11216 0.15 0.00 13.48 0.941 6 0.063 0.000 2886 1732 1816

11526 0.70 204.4 312.5 9.5 633 11531 0.20 2.22 0.00 0.000 4 0.115 0.056 2828 329 1814

11544 0.70 204.4 310.9 9.3 634 11548 0.00 2.22 0.00 0.000 6 0.000 0.044 2829 1751 1814

11878 0.83 234.3 290.7 6.1 650 11911 0.12 2.22 26.88 0.948 4 0.067 0.056 2892 3153 1695

11968 0.62 234.3 281.0 12.5 654 11973 0.30 2.20 0.00 0.000 6 0.122 0.043 2812 1737 1690

12298 0.91 285.9 263.1 5.4 670 12349 0.20 2.30 45.60 0.929 4 0.057 0.057 2923 323 1484

12363 0.75 285.9 256.1 12.8 673 12368 0.28 2.28 0.00 0.000 6 0.123 0.043 2840 1741 1483

12693 0.89 285.9 230.2 8.1 689 12697 0.12 2.25 0.00 0.000 4 0.067 0.055 2904 3152 1477

12755 0.72 285.9 221.9 14.3 691 12762 0.28 2.20 0.00 0.000 6 0.121 0.042 2829 1728 1474

13073 1.01 344.6 200.3 5.1 707 13130 0.20 2.28 50.55 0.878 4 0.055 0.056 2942 326 1245

13154 0.87 344.6 191.2 12.4 710 13160 0.25 2.28 0.00 0.000 6 0.123 0.042 2867 1747 1243

13471 0.98 344.6 164.9 8.2 726 13475 0.10 2.25 0.00 0.000 4 0.074 0.054 2922 3161 1237

13512 0.79 344.6 159.9 13.7 727 13518 0.28 2.20 0.00 0.000 6 0.120 0.041 2847 1734 1235

13829 1.03 344.6 133.2 8.3 743 13833 0.17 2.22 0.00 0.000 4 0.060 0.054 2943 330 1234

13848 1.16 344.6 131.3 8.7 744 13852 0.00 2.25 0.00 0.000 6 0.000 0.041 2943 1753 1234

14176 1.05 344.6 82.8 13.5 775 14183 0.15 2.30 0.00 0.000 4 0.125 0.053 2906 328 1233

14225 1.13 344.6 77.3 10.6 783 14232 0.00 2.25 0.00 0.000 6 0.000 0.042 2906 1748 1233

14573 1.22 344.6 46.0 7.6 844 14580 0.12 2.22 0.00 0.000 4 0.065 0.054 2971 3155 1233

14612 1.12 344.6 41.9 10.4 850 14619 0.22 2.20 0.00 0.000 6 0.130 0.043 2915 1729 1233

14959 1.21 344.6 13.4 8.0 911 14966 0.10 2.22 0.00 0.000 4 0.074 0.056 2978 327 1232

14979 1.21 344.6 11.2 9.2 914 14986 0.15 2.22 0.00 0.000 6 0.122 0.044 2935 1748 1233

15067 end climb: SURFACE_DEPTH_REACHED

state 15067 begin surface coast

15084 end surface coast: FINISH_DEPTH_REACHED

state 15085 begin surface

ID	108	HEADING	-1	PITCH_ADJ_DBAND	1	ALTIM_TOP_TURN_MARGIN	5
MISSION	11	ESCAPE_HEADING	15	ROLL_MIN	294	ALTIM_TOP_MIN_OBSTACLE	1.8
DIVE	668	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	35	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	500	CALL_NDIVES	1	R_STBD_OVSHOOT	35	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	-130972.91	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	040802,6552.007,-5756.067,14,2.0,14,-36.3	TGT_NAME	TARGET_E_IN
_CALLS	1	TGT_LATLONG	6703.000,-5648.000
_XMS_NAKs	0	TGT_RADIUS	10000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	2.00	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	18.8	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	040802,6552.007,-5756.067,14,2.0,14,-36.3	MHEAD_RNG_PITCHd_Wd	56.8,140366,-13.0,-7.021
SPEED_LIMITS	0.122,0.233	D_GRID	526

FREEZE	1.20,-2.176,-0.119	TCM_TEMP	16.10
FINISH	1.2,1.001406	XPDR_PINGS	221
SM_CCo	15167,0.00,0.000,0,0,1231,348.08	_24V_AH	22.2,101.475
SM_GC	2.06,6.97,0.00,0.00,0.047,0.000,0.000,328,2246,1231,-10.70,0.45,348.08	_10V_AH	10.4,44.982
RAFOS_CLK	621	DATA_FILE_SIZE	31498,932
RAFOS	3,1231835646,8.583333,8.568334,67,65,58,55,53,50,790,221,84,179,139,151	CAP_FILE_SIZE	116279,0
RAFOS_FIX	6617.756348,-5909.147949,080109,000040,2,99,0.64	CFSIZE	260165632,211054592
IRIDIUM_FIX	6506.88,-6335.43,080498,191956	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TT8_MAMPS	0.028379	SOUNDSPEED	1460.9
HUMID	1776	GPS	130109,124126,6552.254,-5749.772,30,4.4,49,-36.3
INTERNAL_PRESSURE	9.88319

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	15	140	48.84	SBE_CT	648	24	345.46
Roll_motor	104	65	152.62	SBE_O2	0	0	0.00
VBD_pump_during_apogee	427	1112	10562.14	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	55	420	515.15
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	0	50	0.00
TT8	1675	19	347.13
LPSleep	11040	2	265.24
TT8_Active	515	19	106.75
TT8_Sampling	1670	39	693.65
TT8_CF8	325	45	155.58
TT8_Kalman	0	0	0.00
Analog_circuits	1421	12	177.42
GPS_charging	0	0	0.00
Compass	1659	8	138.04
RAFOS	2160	1	33.70
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
17	-0.99	-146.0	0.0	0.0	0	91	0.00	0.00	-71.22	0.000	6	0.000	0.000	2966	1751	3247
96	-0.99	-146.0	2.5	-1.2	13	103	1.42	1.52	0.00	0.000	4	0.079	0.054	2459	811	3248
167	-0.71	-146.0	9.2	-9.2	25	174	0.28	2.28	0.00	0.000	6	0.139	0.053	2526	2237	3249
515	-0.76	-146.0	35.5	-7.0	86	521	0.00	0.00	0.00	0.000	6	0.000	0.000	2526	2237	3249
861	-0.82	-146.0	62.7	-7.5	147	868	0.10	2.30	0.00	0.000	4	0.087	0.054	2480	818	3248
989	-0.69	-146.0	73.9	-8.0	169	996	0.20	2.30	0.00	0.000	6	0.134	0.055	2526	2244	3248
1337	-0.79	-146.0	93.7	-6.1	230	1343	0.00	2.30	0.00	0.000	4	0.000	0.056	2526	820	3246
1481	-0.87	-146.0	102.8	-6.5	249	1485	0.10	2.28	0.00	0.000	6	0.077	0.055	2471	2235	3246
1815	-0.81	-146.0	128.0	-7.7	265	1819	0.12	2.20	0.00	0.000	4	0.140	0.066	2496	3597	3245
1866	-0.88	-146.0	132.3	-8.1	267	1870	0.00	2.15	0.00	0.000	6	0.000	0.044	2496	2208	3244
2194	-0.94	-146.0	154.9	-6.7	283	2196	0.00	0.00	0.00	0.000	6	0.000	0.000	2496	2208	3243
2504	-0.94	-146.0	174.0	-5.7	298	2508	0.00	2.17	0.00	0.000	4	0.000	0.056	2495	820	3243
2699	-0.94	-146.0	185.4	-6.3	306	2703	0.00	2.28	0.00	0.000	6	0.000	0.054	2487	2237	3243
3023	-0.94	-146.0	201.5	-4.8	322	3024	0.00	0.00	0.00	0.000	6	0.000	0.000	2487	2237	3243
3330	-0.94	-146.0	216.3	-4.9	337	3331	0.00	0.00	0.00	0.000	6	0.000	0.000	2487	2237	3243
3641	-0.94	-146.0	232.5	-5.5	352	3645	0.00	2.25	0.00	0.000	4	0.000	0.052	2487	824	3244
3743	-0.94	-146.0	238.6	-6.1	356	3747	0.00	2.28	0.00	0.000	6	0.000	0.051	2477	2243	3244
4066	-0.94	-146.0	259.3	-7.1	372	4067	0.00	0.00	0.00	0.000	6	0.000	0.000	2477	2243	3244
4375	-0.94	-146.0	280.4	-6.9	387	4377	0.00	0.00	0.00	0.000	6	0.000	0.000	2477	2243	3245
4685	-0.94	-146.0	300.2	-6.1	402	4689	0.00	2.25	0.00	0.000	4	0.000	0.051	2477	820	3246
4756	-0.94	-146.0	304.6	-6.1	405	4760	0.00	2.28	0.00	0.000	6	0.000	0.050	2467	2243	3246
5092	-0.94	-146.0	323.3	-5.1	421	5093	0.00	0.00	0.00	0.000	6	0.000	0.000	2467	2243	3247
5400	-0.94	-146.0	339.7	-5.6	436	5402	0.00	0.00	0.00	0.000	6	0.000	0.000	2467	2243	3247
5709	-0.94	-146.0	358.1	-5.9	451	5710	0.00	0.00	0.00	0.000	6	0.000	0.000	2467	2243	3248
6018	-0.94	-146.0	375.5	-5.5	466	6022	0.00	2.30	0.00	0.000	4	0.000	0.050	2467	811	3248
6105	-0.86	-146.0	380.7	-5.9	469	6111	0.15	2.33	0.00	0.000	6	0.124	0.048	2500	2243	3248
6422	-0.97	-146.0	394.4	-4.3	485	6424	0.12	0.00	0.00	0.000	6	0.075	0.000	2443	2243	3249
6729	-0.87	-146.0	413.0	-6.2	495	6731	0.17	0.00	0.00	0.000	6	0.137	0.000	2493	2243	3249
7053	-0.96	-146.0	428.7	-4.7	503	7057	0.00	2.28	0.00	0.000	4	0.000	0.050	2494	816	3249
7122	-0.96	-146.0	432.4	-5.5	504	7125	0.00	2.30	0.00	0.000	6	0.000	0.049	2486	2236	3249
7472	-1.01	-146.0	449.8	-4.9	513	7474	0.10	0.00	0.00	0.000	6	0.077	0.000	2434	2236	3249
7797	-0.87	-146.0	471.2	-6.7	521	7798	0.20	0.00	0.00	0.000	6	0.134	0.000	2493	2236	3249
8122	-0.95	-146.0	486.9	-4.9	529	8125	0.00	2.25	0.00	0.000	4	0.000	0.050	2493	825	3249
8196	-0.95	-146.0	491.0	-5.2	530	8201	0.00	2.28	0.00	0.000	6	0.000	0.050	2485	2233	3249
8540	-0.95	-146.0	508.7	-5.2	539	8542	0.00	0.00	0.00	0.000	6	0.000	0.000	2485	2233	3250
8866	-1.01	-146.0	525.7	-5.0	547	8870	0.10	2.20	0.00	0.000	4	0.078	0.062	2422	3602	3249
8874	end dive: TARGET_DEPTH_EXCEEDED
state	8874	begin apogee
8886	-0.31	0.0	526.4	5.0	547	9015	0.55	0.00	125.38	1.113	6	0.125	0.000	2608	1729	2650
9016	end apogee: CONTROL_FINISHED_OK
state	9016	begin climb
9020	0.99	146.0	527.9	0.0	550	9153	0.88	0.00	129.38	1.045	6	0.089	0.000	2899	1729	2054
9472	0.81	146.0	482.7	10.7	561	9474	0.17	0.00	0.00	0.000	6	0.125	0.000	2847	1729	2048
9794	0.81	146.0	457.2	7.6	569	9798	0.00	2.30	0.00	0.000	4	0.000	0.058	2847	3149	2046
9828	0.71	146.0	454.1	9.2	569	9832	0.00	2.20	0.00	0.000	6	0.000	0.044	2855	1731	2045
10166	0.71	146.0	427.8	7.5	578	10170	0.00	2.30	0.00	0.000	4	0.000	0.057	2855	3156	2045
10190	0.61	146.0	425.8	8.0	578	10194	0.20	2.20	0.00	0.000	6	0.123	0.043	2806	1732	2045
10540	0.82	188.8	406.7	5.6	587	10578	0.17	0.00	36.25	1.035	6	0.058	0.000	2891	1731	1880
10889	0.65	188.8	367.4	11.7	602	10891	0.25	0.00	0.00	0.000	6	0.120	0.000	2815	1732	1874
11198	0.83	204.4	345.2	6.5	617	11216	0.15	0.00	13.48	0.941	6	0.063	0.000	2886	1732	1816
11526	0.70	204.4	312.5	9.5	633	11531	0.20	2.22	0.00	0.000	4	0.115	0.056	2828	329	1814
11544	0.70	204.4	310.9	9.3	634	11548	0.00	2.22	0.00	0.000	6	0.000	0.044	2829	1751	1814
11878	0.83	234.3	290.7	6.1	650	11911	0.12	2.22	26.88	0.948	4	0.067	0.056	2892	3153	1695
11968	0.62	234.3	281.0	12.5	654	11973	0.30	2.20	0.00	0.000	6	0.122	0.043	2812	1737	1690
12298	0.91	285.9	263.1	5.4	670	12349	0.20	2.30	45.60	0.929	4	0.057	0.057	2923	323	1484
12363	0.75	285.9	256.1	12.8	673	12368	0.28	2.28	0.00	0.000	6	0.123	0.043	2840	1741	1483
12693	0.89	285.9	230.2	8.1	689	12697	0.12	2.25	0.00	0.000	4	0.067	0.055	2904	3152	1477
12755	0.72	285.9	221.9	14.3	691	12762	0.28	2.20	0.00	0.000	6	0.121	0.042	2829	1728	1474
13073	1.01	344.6	200.3	5.1	707	13130	0.20	2.28	50.55	0.878	4	0.055	0.056	2942	326	1245
13154	0.87	344.6	191.2	12.4	710	13160	0.25	2.28	0.00	0.000	6	0.123	0.042	2867	1747	1243
13471	0.98	344.6	164.9	8.2	726	13475	0.10	2.25	0.00	0.000	4	0.074	0.054	2922	3161	1237
13512	0.79	344.6	159.9	13.7	727	13518	0.28	2.20	0.00	0.000	6	0.120	0.041	2847	1734	1235
13829	1.03	344.6	133.2	8.3	743	13833	0.17	2.22	0.00	0.000	4	0.060	0.054	2943	330	1234
13848	1.16	344.6	131.3	8.7	744	13852	0.00	2.25	0.00	0.000	6	0.000	0.041	2943	1753	1234
14176	1.05	344.6	82.8	13.5	775	14183	0.15	2.30	0.00	0.000	4	0.125	0.053	2906	328	1233
14225	1.13	344.6	77.3	10.6	783	14232	0.00	2.25	0.00	0.000	6	0.000	0.042	2906	1748	1233
14573	1.22	344.6	46.0	7.6	844	14580	0.12	2.22	0.00	0.000	4	0.065	0.054	2971	3155	1233
14612	1.12	344.6	41.9	10.4	850	14619	0.22	2.20	0.00	0.000	6	0.130	0.043	2915	1729	1233
14959	1.21	344.6	13.4	8.0	911	14966	0.10	2.22	0.00	0.000	4	0.074	0.056	2978	327	1232
14979	1.21	344.6	11.2	9.2	914	14986	0.15	2.22	0.00	0.000	6	0.122	0.044	2935	1748	1233
15067	end climb: SURFACE_DEPTH_REACHED
state	15067	begin surface coast
15084	end surface coast: FINISH_DEPTH_REACHED
state	15085	begin surface