Glider dive log

DavisStrait Sep08 * SG108 * Dive index * Mission links * Dive 347 * 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 80 ROLL_MIN 294 ALTIM_TOP_MIN_OBSTACLE 1.8

DIVE 347 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 22 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 -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 -119189.44 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 1 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 -119189.44

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 1 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 22 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 347 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 122224,6619.368,-6023.639,0,2081.0,0,-37.7 TGT_NAME TARGET_E_IN

_CALLS 3 TGT_LATLONG 6703.000,-5648.000

_XMS_NAKs 16 TGT_RADIUS 10000.000

_XMS_TOUTs 1 KALMAN_CONTROL 0.225,0.060

_SM_DEPTHo 4.85 KALMAN_X 276400.7,-482.6,-3291.4,-271375.8,6449.4

_SM_ANGLEo -3.7 KALMAN_Y -221695.1,4373.5,12070.2,224856.5,-1633.1

GPS2 122224,6619.368,-6023.639,0,2081.0,0,-37.7 MHEAD_RNG_PITCHd_Wd 112.7,175440,-13.0,-7.021

SPEED_LIMITS 0.122,0.233 D_GRID 441

Post-dive calculations and measurements:

FREEZE 6.74,-1.745,-1.781 TCM_TEMP 14.80

FINISH1 6.7,1.026101,76 XPDR_PINGS 71

FINISH2 5.6 _24V_AH 22.0,60.009

RAFOS_CLK 544 _10V_AH 10.5,27.395

RAFOS 2,1227371043,16.416666,16.400833,63,61,54,52,51,51,204,218,175,144,155,128 DATA_FILE_SIZE 25248,822

RAFOS_FIX 6618.402832,-6021.352051,221108,161620,2,74,0.17 CAP_FILE_SIZE 100598,0

IRIDIUM_FIX 6548.42,-6029.22,160298,060607 CFSIZE 260165632,228167680

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

HUMID 1815 SOUNDSPEED 1443.4

INTERNAL_PRESSURE 9.88319 GPS 221108,162120,6618.403,-6021.352,0,2074.5,0,-37.7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 7 158 24.33 SBE_CT 576 24 304.47

Roll_motor 116 87 223.29 SBE_O2 0 0 0.00

VBD_pump_during_apogee 362 1175 9380.02 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 17 420 164.01

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 0 50 0.00

TT8 1467 19 306.93

LPSleep 8161 2 197.95

TT8_Active 463 19 96.97

TT8_Sampling 1474 39 617.86

TT8_CF8 178 45 86.05

TT8_Kalman 33 81 28.70

Analog_circuits 1263 12 159.16

GPS_charging 0 0 0.00

Compass 1462 8 122.86

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

12 end surface: CONTROL_FINISHED_OK

state 12 begin dive

16 -0.99 -146.0 0.0 0.0 0 23 0.00 0.00 -5.93 0.000 2 0.000 0.000 2686 3149 2490

27 -0.99 -146.0 3.2 -0.0 1 69 0.62 3.90 -34.55 0.000 4 0.074 0.072 2454 813 3249

312 -0.75 -146.0 33.1 -10.2 51 318 0.25 2.35 0.00 0.000 6 0.150 0.072 2514 2232 3253

656 -0.75 -146.0 58.1 -8.0 112 662 0.00 0.00 0.00 0.000 6 0.000 0.000 2514 2232 3254

999 -0.75 -146.0 89.9 -9.0 173 1005 0.00 2.25 0.00 0.000 4 0.000 0.085 2506 3601 3253

1029 -0.75 -146.0 92.9 -9.7 178 1035 0.00 2.20 0.00 0.000 6 0.000 0.058 2506 2217 3253

1351 -0.75 -146.0 121.3 -8.9 203 1355 0.00 2.33 0.00 0.000 4 0.000 0.084 2496 3603 3253

1372 -0.75 -146.0 123.4 -9.1 204 1376 0.00 2.20 0.00 0.000 6 0.000 0.057 2496 2215 3253

1700 -0.75 -146.0 153.8 -9.1 220 1703 0.00 2.22 0.00 0.000 4 0.000 0.069 2495 814 3253

1723 -0.70 -146.0 156.1 -9.5 221 1728 0.15 2.35 0.00 0.000 6 0.143 0.071 2527 2237 3253

2050 -0.79 -146.0 182.3 -7.6 237 2051 0.00 0.00 0.00 0.000 6 0.000 0.000 2527 2237 3253

2359 -0.90 -146.0 201.9 -5.8 252 2361 0.15 0.00 0.00 0.000 6 0.087 0.000 2468 2237 3253

2668 -0.81 -146.0 225.1 -7.6 267 2670 0.15 0.00 0.00 0.000 6 0.157 0.000 2507 2237 3253

2978 -0.86 -146.0 245.3 -7.0 282 2979 0.00 0.00 0.00 0.000 6 0.000 0.000 2507 2237 3253

3286 -0.93 -146.0 268.0 -7.2 297 3291 0.12 2.33 0.00 0.000 4 0.094 0.069 2458 814 3253

3297 -0.93 -146.0 268.7 -6.7 297 3301 0.12 2.35 0.00 0.000 6 0.149 0.071 2481 2236 3252

3614 -0.93 -146.0 292.1 -7.3 312 3618 0.00 2.25 0.00 0.000 4 0.000 0.087 2472 3598 3253

3686 -0.93 -146.0 298.0 -8.3 315 3690 0.00 2.17 0.00 0.000 6 0.000 0.057 2472 2226 3253

4013 -0.93 -146.0 321.8 -6.8 331 4017 0.00 2.33 0.00 0.000 4 0.000 0.084 2462 3608 3252

4063 -0.88 -146.0 325.5 -7.5 333 4068 0.10 2.20 0.00 0.000 6 0.158 0.058 2486 2223 3252

4390 -0.88 -146.0 346.8 -6.5 349 4394 0.00 2.28 0.00 0.000 4 0.000 0.071 2486 811 3253

4408 -0.88 -146.0 347.9 -6.7 349 4415 0.00 2.35 0.00 0.000 6 0.000 0.071 2479 2232 3253

4725 -0.88 -146.0 368.1 -6.0 365 4728 0.00 2.33 0.00 0.000 4 0.000 0.069 2478 811 3252

4757 -0.88 -146.0 370.5 -7.3 366 4761 0.00 2.35 0.00 0.000 6 0.000 0.070 2469 2236 3252

5079 -0.88 -146.0 391.9 -6.9 382 5080 0.00 0.00 0.00 0.000 6 0.000 0.000 2469 2236 3252

5386 -0.88 -146.0 411.2 -6.5 393 5390 0.00 2.33 0.00 0.000 4 0.000 0.068 2469 820 3252

5426 -0.82 -146.0 414.1 -7.7 393 5432 0.17 2.35 0.00 0.000 6 0.137 0.071 2508 2237 3252

5758 -0.94 -146.0 430.3 -4.4 402 5762 0.12 2.25 0.00 0.000 4 0.089 0.082 2447 3601 3252

5774 -1.00 -146.0 431.2 -4.5 402 5778 0.00 2.20 0.00 0.000 6 0.000 0.054 2447 2214 3252

5917 end dive: TARGET_DEPTH_EXCEEDED

state 5917 begin apogee

5923 -0.31 0.0 441.5 7.1 406 6051 0.55 0.00 124.85 1.175 6 0.137 0.000 2615 1737 2650

6052 end apogee: CONTROL_FINISHED_OK

state 6052 begin climb

6055 0.99 146.0 444.7 0.0 409 6192 0.88 2.67 130.75 1.092 4 0.094 0.072 2897 3148 2053

6221 0.67 146.0 431.9 11.2 413 6227 0.32 2.53 0.00 0.000 6 0.140 0.056 2822 1733 2050

6540 0.68 156.4 410.9 6.7 421 6554 0.00 2.45 8.85 0.951 4 0.000 0.072 2831 334 2012

6590 0.81 179.1 407.6 6.3 422 6619 0.10 2.42 22.20 1.047 6 0.086 0.060 2874 1749 1919

6937 0.73 179.1 378.9 8.5 436 6941 0.15 2.35 0.00 0.000 4 0.130 0.074 2831 3156 1915

6969 0.73 179.1 376.0 8.0 437 6976 0.00 2.33 0.00 0.000 6 0.000 0.055 2839 1730 1914

7286 0.81 191.3 354.4 6.6 453 7302 0.00 2.33 11.25 1.002 4 0.000 0.071 2849 326 1870

7336 0.91 202.3 351.0 6.7 454 7352 0.10 2.38 10.90 0.985 6 0.088 0.061 2894 1755 1825

7676 0.81 202.3 321.9 8.3 471 7681 0.15 2.30 0.00 0.000 4 0.135 0.075 2850 3157 1824

7761 0.81 202.3 315.6 7.3 475 7764 0.00 2.28 0.00 0.000 6 0.000 0.057 2856 1739 1822

8093 0.82 204.2 294.0 7.0 491 8097 0.00 2.30 0.00 0.000 4 0.000 0.072 2865 332 1822

8128 0.88 204.2 291.7 7.3 492 8132 0.00 2.33 0.00 0.000 6 0.000 0.061 2865 1754 1822

8449 0.88 204.2 268.9 7.7 508 8453 0.00 2.25 0.00 0.000 4 0.000 0.076 2865 3153 1822

8488 0.80 204.2 265.2 9.8 509 8494 0.00 2.28 0.00 0.000 6 0.000 0.057 2875 1729 1821

8804 0.80 204.2 238.4 7.9 525 8807 0.00 2.28 0.00 0.000 4 0.000 0.071 2886 330 1821

8876 0.80 204.2 232.4 8.0 528 8880 0.12 2.33 0.00 0.000 6 0.124 0.063 2850 1753 1821

9203 0.98 244.7 213.2 5.7 544 9247 0.15 2.40 37.42 1.039 4 0.076 0.077 2914 3160 1652

9298 0.80 244.7 204.0 11.9 548 9303 0.25 2.33 0.00 0.000 6 0.133 0.058 2852 1738 1649

9624 1.22 244.7 181.0 7.6 564 9629 0.25 2.33 0.00 0.000 4 0.073 0.072 2954 330 1644

9646 1.39 244.7 179.1 8.5 565 9651 0.10 2.35 0.00 0.000 6 0.094 0.063 2992 1753 1644

9969 1.07 244.7 136.0 13.4 581 9974 0.25 2.30 0.00 0.000 4 0.147 0.078 2916 3152 1643

10047 0.90 244.7 127.3 10.6 584 10054 0.17 2.28 0.00 0.000 6 0.137 0.061 2874 1739 1642

10364 1.05 264.2 105.9 6.4 600 10387 0.12 2.40 16.62 0.960 4 0.077 0.074 2942 321 1573

10480 0.96 264.2 94.5 10.6 611 10487 0.20 2.35 0.00 0.000 6 0.134 0.064 2884 1741 1572

10825 1.12 264.2 70.3 7.2 672 10831 0.12 0.00 0.00 0.000 6 0.079 0.000 2941 1741 1569

11169 1.03 264.2 40.2 8.8 733 11175 0.15 0.00 0.00 0.000 6 0.133 0.000 2897 1740 1568

11513 1.13 264.2 17.1 7.1 794 11519 0.10 2.33 0.00 0.000 4 0.087 0.080 2942 3157 1567

11555 1.02 264.2 13.2 9.6 801 11562 0.20 2.30 0.00 0.000 6 0.137 0.062 2895 1730 1567

11645 end climb: FINISH_DEPTH_REACHED

state 11645 begin subsurface finish

11653 0.09 76.0 6.7 -6.6 817 11683 0.57 2.38 -24.85 0.000 4 0.115 0.086 2701 326 2343

11684 end subsurface finish: CONTROL_FINISHED_OK

state 11684 begin surface

ID	108	HEADING	-1	PITCH_ADJ_DBAND	1	ALTIM_TOP_TURN_MARGIN	5
MISSION	11	ESCAPE_HEADING	80	ROLL_MIN	294	ALTIM_TOP_MIN_OBSTACLE	1.8
DIVE	347	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	22	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	-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	-119189.44	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	1	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	122224,6619.368,-6023.639,0,2081.0,0,-37.7	TGT_NAME	TARGET_E_IN
_CALLS	3	TGT_LATLONG	6703.000,-5648.000
_XMS_NAKs	16	TGT_RADIUS	10000.000
_XMS_TOUTs	1	KALMAN_CONTROL	0.225,0.060
_SM_DEPTHo	4.85	KALMAN_X	276400.7,-482.6,-3291.4,-271375.8,6449.4
_SM_ANGLEo	-3.7	KALMAN_Y	-221695.1,4373.5,12070.2,224856.5,-1633.1
GPS2	122224,6619.368,-6023.639,0,2081.0,0,-37.7	MHEAD_RNG_PITCHd_Wd	112.7,175440,-13.0,-7.021
SPEED_LIMITS	0.122,0.233	D_GRID	441

FREEZE	6.74,-1.745,-1.781	TCM_TEMP	14.80
FINISH1	6.7,1.026101,76	XPDR_PINGS	71
FINISH2	5.6	_24V_AH	22.0,60.009
RAFOS_CLK	544	_10V_AH	10.5,27.395
RAFOS	2,1227371043,16.416666,16.400833,63,61,54,52,51,51,204,218,175,144,155,128	DATA_FILE_SIZE	25248,822
RAFOS_FIX	6618.402832,-6021.352051,221108,161620,2,74,0.17	CAP_FILE_SIZE	100598,0
IRIDIUM_FIX	6548.42,-6029.22,160298,060607	CFSIZE	260165632,228167680
TT8_MAMPS	0.026845	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
HUMID	1815	SOUNDSPEED	1443.4
INTERNAL_PRESSURE	9.88319	GPS	221108,162120,6618.403,-6021.352,0,2074.5,0,-37.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	7	158	24.33	SBE_CT	576	24	304.47
Roll_motor	116	87	223.29	SBE_O2	0	0	0.00
VBD_pump_during_apogee	362	1175	9380.02	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	17	420	164.01
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	0	50	0.00
TT8	1467	19	306.93
LPSleep	8161	2	197.95
TT8_Active	463	19	96.97
TT8_Sampling	1474	39	617.86
TT8_CF8	178	45	86.05
TT8_Kalman	33	81	28.70
Analog_circuits	1263	12	159.16
GPS_charging	0	0	0.00
Compass	1462	8	122.86
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
12	end surface: CONTROL_FINISHED_OK
state	12	begin dive
16	-0.99	-146.0	0.0	0.0	0	23	0.00	0.00	-5.93	0.000	2	0.000	0.000	2686	3149	2490
27	-0.99	-146.0	3.2	-0.0	1	69	0.62	3.90	-34.55	0.000	4	0.074	0.072	2454	813	3249
312	-0.75	-146.0	33.1	-10.2	51	318	0.25	2.35	0.00	0.000	6	0.150	0.072	2514	2232	3253
656	-0.75	-146.0	58.1	-8.0	112	662	0.00	0.00	0.00	0.000	6	0.000	0.000	2514	2232	3254
999	-0.75	-146.0	89.9	-9.0	173	1005	0.00	2.25	0.00	0.000	4	0.000	0.085	2506	3601	3253
1029	-0.75	-146.0	92.9	-9.7	178	1035	0.00	2.20	0.00	0.000	6	0.000	0.058	2506	2217	3253
1351	-0.75	-146.0	121.3	-8.9	203	1355	0.00	2.33	0.00	0.000	4	0.000	0.084	2496	3603	3253
1372	-0.75	-146.0	123.4	-9.1	204	1376	0.00	2.20	0.00	0.000	6	0.000	0.057	2496	2215	3253
1700	-0.75	-146.0	153.8	-9.1	220	1703	0.00	2.22	0.00	0.000	4	0.000	0.069	2495	814	3253
1723	-0.70	-146.0	156.1	-9.5	221	1728	0.15	2.35	0.00	0.000	6	0.143	0.071	2527	2237	3253
2050	-0.79	-146.0	182.3	-7.6	237	2051	0.00	0.00	0.00	0.000	6	0.000	0.000	2527	2237	3253
2359	-0.90	-146.0	201.9	-5.8	252	2361	0.15	0.00	0.00	0.000	6	0.087	0.000	2468	2237	3253
2668	-0.81	-146.0	225.1	-7.6	267	2670	0.15	0.00	0.00	0.000	6	0.157	0.000	2507	2237	3253
2978	-0.86	-146.0	245.3	-7.0	282	2979	0.00	0.00	0.00	0.000	6	0.000	0.000	2507	2237	3253
3286	-0.93	-146.0	268.0	-7.2	297	3291	0.12	2.33	0.00	0.000	4	0.094	0.069	2458	814	3253
3297	-0.93	-146.0	268.7	-6.7	297	3301	0.12	2.35	0.00	0.000	6	0.149	0.071	2481	2236	3252
3614	-0.93	-146.0	292.1	-7.3	312	3618	0.00	2.25	0.00	0.000	4	0.000	0.087	2472	3598	3253
3686	-0.93	-146.0	298.0	-8.3	315	3690	0.00	2.17	0.00	0.000	6	0.000	0.057	2472	2226	3253
4013	-0.93	-146.0	321.8	-6.8	331	4017	0.00	2.33	0.00	0.000	4	0.000	0.084	2462	3608	3252
4063	-0.88	-146.0	325.5	-7.5	333	4068	0.10	2.20	0.00	0.000	6	0.158	0.058	2486	2223	3252
4390	-0.88	-146.0	346.8	-6.5	349	4394	0.00	2.28	0.00	0.000	4	0.000	0.071	2486	811	3253
4408	-0.88	-146.0	347.9	-6.7	349	4415	0.00	2.35	0.00	0.000	6	0.000	0.071	2479	2232	3253
4725	-0.88	-146.0	368.1	-6.0	365	4728	0.00	2.33	0.00	0.000	4	0.000	0.069	2478	811	3252
4757	-0.88	-146.0	370.5	-7.3	366	4761	0.00	2.35	0.00	0.000	6	0.000	0.070	2469	2236	3252
5079	-0.88	-146.0	391.9	-6.9	382	5080	0.00	0.00	0.00	0.000	6	0.000	0.000	2469	2236	3252
5386	-0.88	-146.0	411.2	-6.5	393	5390	0.00	2.33	0.00	0.000	4	0.000	0.068	2469	820	3252
5426	-0.82	-146.0	414.1	-7.7	393	5432	0.17	2.35	0.00	0.000	6	0.137	0.071	2508	2237	3252
5758	-0.94	-146.0	430.3	-4.4	402	5762	0.12	2.25	0.00	0.000	4	0.089	0.082	2447	3601	3252
5774	-1.00	-146.0	431.2	-4.5	402	5778	0.00	2.20	0.00	0.000	6	0.000	0.054	2447	2214	3252
5917	end dive: TARGET_DEPTH_EXCEEDED
state	5917	begin apogee
5923	-0.31	0.0	441.5	7.1	406	6051	0.55	0.00	124.85	1.175	6	0.137	0.000	2615	1737	2650
6052	end apogee: CONTROL_FINISHED_OK
state	6052	begin climb
6055	0.99	146.0	444.7	0.0	409	6192	0.88	2.67	130.75	1.092	4	0.094	0.072	2897	3148	2053
6221	0.67	146.0	431.9	11.2	413	6227	0.32	2.53	0.00	0.000	6	0.140	0.056	2822	1733	2050
6540	0.68	156.4	410.9	6.7	421	6554	0.00	2.45	8.85	0.951	4	0.000	0.072	2831	334	2012
6590	0.81	179.1	407.6	6.3	422	6619	0.10	2.42	22.20	1.047	6	0.086	0.060	2874	1749	1919
6937	0.73	179.1	378.9	8.5	436	6941	0.15	2.35	0.00	0.000	4	0.130	0.074	2831	3156	1915
6969	0.73	179.1	376.0	8.0	437	6976	0.00	2.33	0.00	0.000	6	0.000	0.055	2839	1730	1914
7286	0.81	191.3	354.4	6.6	453	7302	0.00	2.33	11.25	1.002	4	0.000	0.071	2849	326	1870
7336	0.91	202.3	351.0	6.7	454	7352	0.10	2.38	10.90	0.985	6	0.088	0.061	2894	1755	1825
7676	0.81	202.3	321.9	8.3	471	7681	0.15	2.30	0.00	0.000	4	0.135	0.075	2850	3157	1824
7761	0.81	202.3	315.6	7.3	475	7764	0.00	2.28	0.00	0.000	6	0.000	0.057	2856	1739	1822
8093	0.82	204.2	294.0	7.0	491	8097	0.00	2.30	0.00	0.000	4	0.000	0.072	2865	332	1822
8128	0.88	204.2	291.7	7.3	492	8132	0.00	2.33	0.00	0.000	6	0.000	0.061	2865	1754	1822
8449	0.88	204.2	268.9	7.7	508	8453	0.00	2.25	0.00	0.000	4	0.000	0.076	2865	3153	1822
8488	0.80	204.2	265.2	9.8	509	8494	0.00	2.28	0.00	0.000	6	0.000	0.057	2875	1729	1821
8804	0.80	204.2	238.4	7.9	525	8807	0.00	2.28	0.00	0.000	4	0.000	0.071	2886	330	1821
8876	0.80	204.2	232.4	8.0	528	8880	0.12	2.33	0.00	0.000	6	0.124	0.063	2850	1753	1821
9203	0.98	244.7	213.2	5.7	544	9247	0.15	2.40	37.42	1.039	4	0.076	0.077	2914	3160	1652
9298	0.80	244.7	204.0	11.9	548	9303	0.25	2.33	0.00	0.000	6	0.133	0.058	2852	1738	1649
9624	1.22	244.7	181.0	7.6	564	9629	0.25	2.33	0.00	0.000	4	0.073	0.072	2954	330	1644
9646	1.39	244.7	179.1	8.5	565	9651	0.10	2.35	0.00	0.000	6	0.094	0.063	2992	1753	1644
9969	1.07	244.7	136.0	13.4	581	9974	0.25	2.30	0.00	0.000	4	0.147	0.078	2916	3152	1643
10047	0.90	244.7	127.3	10.6	584	10054	0.17	2.28	0.00	0.000	6	0.137	0.061	2874	1739	1642
10364	1.05	264.2	105.9	6.4	600	10387	0.12	2.40	16.62	0.960	4	0.077	0.074	2942	321	1573
10480	0.96	264.2	94.5	10.6	611	10487	0.20	2.35	0.00	0.000	6	0.134	0.064	2884	1741	1572
10825	1.12	264.2	70.3	7.2	672	10831	0.12	0.00	0.00	0.000	6	0.079	0.000	2941	1741	1569
11169	1.03	264.2	40.2	8.8	733	11175	0.15	0.00	0.00	0.000	6	0.133	0.000	2897	1740	1568
11513	1.13	264.2	17.1	7.1	794	11519	0.10	2.33	0.00	0.000	4	0.087	0.080	2942	3157	1567
11555	1.02	264.2	13.2	9.6	801	11562	0.20	2.30	0.00	0.000	6	0.137	0.062	2895	1730	1567
11645	end climb: FINISH_DEPTH_REACHED
state	11645	begin subsurface finish
11653	0.09	76.0	6.7	-6.6	817	11683	0.57	2.38	-24.85	0.000	4	0.115	0.086	2701	326	2343
11684	end subsurface finish: CONTROL_FINISHED_OK
state	11684	begin surface