Glider dive log

DavisStrait Sep08 * SG108 * Dive index * Mission links * Dive 349 * 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 349 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 24 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 500 CALL_NDIVES 1 R_STBD_OVSHOOT 22 INT_PRESSURE_YINT 0

D_CALL 3 COMM_SEQ 0 ROLL_AD_RATE 275 DEEPGLIDER 0

SURFACE_URGENCY 10 KERMIT 0 ROLL_MAXERRORS 0 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 5 N_NOCOMM 0 ROLL_ADJ_GAIN 0 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 10 N_NOSURFACE 0 ROLL_ADJ_DBAND 0 DEVICE1 2

T_DIVE 470 UPLOAD_DIVES_MAX 5 VBD_MIN 588 DEVICE2 20

T_MISSION 550 CALL_TRIES 3 VBD_MAX 3951 DEVICE3 -1

T_ABORT 1440 CALL_WAIT 60 C_VBD 2650 DEVICE4 -1

T_TURN 225 CAPUPLOAD 0 VBD_DBAND 2 DEVICE5 -1

T_TURN_SAMPINT 5 CAPMAXSIZE 100000 VBD_CNV -0.24529999 DEVICE6 -1

T_NO_W 120 HEAPDBG 0 VBD_TIMEOUT 360 SMARTS 0

USE_BATHY -2 T_GPS 3 PITCH_VBD_SHIFT 0.0012300001 SMARTDEVICE1 -1

USE_ICE 2 N_GPS 20 VBD_PUMP_AD_RATE_SURFACE 4 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.1 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_APOGEE 4 COMPASS_DEVICE 33

D_OFFGRID 900 T_GPS_CHARGE -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 24 VBD_BLEED_AD_RATE 8

C_VBD 2650 MAX_BUOY 150 R_STBD_OVSHOOT 22 VBD_CNV -0.24529999

DEEPGLIDER 0 MISSION 11 SEABIRD_C_G -10.106751 VBD_DBAND 2

DEEPGLIDERMB 0 MOTHERBOARD 4 SEABIRD_C_H 1.1366181 VBD_MAX 3951

DEVICE1 2 NAV_MODE 1 SEABIRD_C_I 0.00038917549 VBD_MAXERRORS 1

DEVICE2 20 N_FILEKB 4 SEABIRD_C_J 7.9540005e-05 VBD_MIN 588

DEVICE3 -1 N_GPS 20 SEABIRD_T_G 0.0043498399 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE4 -1 N_NOCOMM 0 SEABIRD_T_H 0.0006493734 VBD_PUMP_AD_RATE_SURFACE 4

DEVICE5 -1 N_NOSURFACE 0 SEABIRD_T_I 2.8112627e-05 VBD_TIMEOUT 360

DEVICE6 -1 PHONE_DEVICE 48 SEABIRD_T_J 3.1957888e-06 XPDR_DEVICE 24

DIVE 349 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 162120,6618.403,-6021.352,0,2074.5,0,-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 0.222,-0.071

_SM_DEPTHo 1.91 KALMAN_X 289138.1,-5047.3,2964.1,-265761.5,4849.5

_SM_ANGLEo -1.1 KALMAN_Y -218094.0,14658.3,-11060.0,226491.2,7311.6

GPS2 162120,6618.403,-6021.352,0,2074.5,0,-37.7 MHEAD_RNG_PITCHd_Wd 145.3,174814,-13.0,-7.021

SPEED_LIMITS 0.122,0.233 D_GRID 439

Post-dive calculations and measurements:

FREEZE 6.78,-1.751,-1.785 TCM_TEMP 14.90

FINISH1 6.8,1.026153,73 XPDR_PINGS 69

FINISH2 5.9 _24V_AH 22.1,60.250

RAFOS_CLK 561 _10V_AH 10.5,27.491

RAFOS 0,1227398651,0.083333,0.069722,123,59,59,58,58,57,687,157,124,193,181,210 DATA_FILE_SIZE 28378,860

RAFOS_FIX 6735.099121,-5752.243652,221108,202024,3,75,12.22 CAP_FILE_SIZE 102513,0

IRIDIUM_FIX 6548.42,-6029.22,160298,060607 CFSIZE 260165632,228061184

TT8_MAMPS 0.028379 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

HUMID 1836 SOUNDSPEED 1442.9

INTERNAL_PRESSURE 9.89296 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 8 156 28.10 SBE_CT 602 24 319.53

Roll_motor 109 98 237.36 SBE_O2 0 0 0.00

VBD_pump_during_apogee 352 1178 9179.74 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 17 420 160.11

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 0 50 0.00

TT8 1511 19 316.15

LPSleep 8308 2 201.53

TT8_Active 485 19 101.59

TT8_Sampling 1522 39 638.15

TT8_CF8 176 45 84.94

TT8_Kalman 33 81 28.70

Analog_circuits 1318 12 166.18

GPS_charging 0 0 0.00

Compass 1511 8 126.93

RAFOS 1800 1 28.35

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 0 112 0.00 0.00 -92.85 0.000 6 0.000 0.000 2946 1748 3247

115 -0.99 -146.0 3.2 -3.1 17 122 1.42 1.55 0.00 0.000 4 0.099 0.070 2456 808 3248

191 -0.69 -146.0 10.5 -10.8 30 199 0.28 2.35 0.00 0.000 6 0.148 0.071 2526 2231 3251

536 -0.74 -146.0 37.6 -8.5 91 542 0.00 2.33 0.00 0.000 4 0.000 0.068 2528 807 3252

549 -0.74 -146.0 38.6 -8.2 93 555 0.00 2.35 0.00 0.000 6 0.000 0.070 2519 2234 3251

893 -0.74 -146.0 69.6 -9.0 154 899 0.00 2.33 0.00 0.000 4 0.000 0.070 2520 812 3251

906 -0.74 -146.0 70.8 -8.8 156 912 0.00 2.35 0.00 0.000 6 0.000 0.071 2512 2238 3251

1250 -0.74 -146.0 99.0 -7.4 217 1256 0.00 2.33 0.00 0.000 4 0.000 0.070 2512 817 3251

1369 -0.74 -146.0 107.3 -6.9 225 1373 0.00 2.35 0.00 0.000 6 0.000 0.071 2503 2243 3251

1696 -0.74 -146.0 130.6 -6.8 241 1697 0.00 0.00 0.00 0.000 6 0.000 0.000 2503 2242 3251

2007 -0.74 -146.0 150.4 -6.6 256 2011 0.00 2.35 0.00 0.000 4 0.000 0.071 2502 810 3250

2018 -0.74 -146.0 151.4 -7.0 256 2023 0.10 2.35 0.00 0.000 6 0.146 0.071 2519 2233 3250

2334 -0.83 -146.0 172.8 -6.9 271 2335 0.00 0.00 0.00 0.000 6 0.000 0.000 2519 2233 3250

2643 -0.91 -146.0 194.3 -7.1 286 2645 0.15 0.00 0.00 0.000 6 0.084 0.000 2460 2233 3250

2952 -0.79 -146.0 225.5 -10.0 301 2957 0.17 2.28 0.00 0.000 4 0.156 0.098 2499 3604 3250

2999 -0.84 -146.0 229.6 -8.9 303 3003 0.00 2.20 0.00 0.000 6 0.000 0.058 2498 2216 3250

3333 -0.84 -146.0 256.7 -8.6 319 3337 0.00 2.35 0.00 0.000 4 0.000 0.089 2490 3607 3250

3343 -0.84 -146.0 257.7 -8.5 319 3347 0.00 2.20 0.00 0.000 6 0.000 0.058 2489 2217 3249

3665 -0.84 -146.0 283.8 -8.1 335 3668 0.00 2.33 0.00 0.000 4 0.000 0.090 2480 3597 3249

3743 -0.84 -146.0 290.6 -8.7 338 3747 0.00 2.17 0.00 0.000 6 0.000 0.058 2480 2222 3250

4063 -0.84 -146.0 316.0 -7.5 354 4067 0.00 2.25 0.00 0.000 4 0.000 0.071 2479 820 3249

4102 -0.77 -146.0 319.0 -7.8 355 4109 0.15 2.35 0.00 0.000 6 0.140 0.071 2511 2241 3250

4419 -0.86 -146.0 337.2 -5.9 371 4423 0.00 2.33 0.00 0.000 4 0.000 0.071 2511 813 3250

4469 -0.91 -146.0 340.6 -6.8 373 4474 0.08 2.35 0.00 0.000 6 0.101 0.071 2466 2231 3250

4785 -0.86 -146.0 365.4 -7.4 388 4789 0.10 2.25 0.00 0.000 4 0.156 0.084 2483 3601 3250

4795 -0.86 -146.0 366.0 -7.1 388 4799 0.00 2.17 0.00 0.000 6 0.000 0.056 2482 2229 3249

5117 -0.86 -146.0 384.5 -5.5 404 5120 0.00 2.33 0.00 0.000 4 0.000 0.084 2473 3609 3250

5128 -0.86 -146.0 384.9 -5.2 404 5132 0.00 2.20 0.00 0.000 6 0.000 0.057 2473 2222 3249

5449 -0.86 -146.0 403.6 -5.9 419 5453 0.00 2.28 0.00 0.000 4 0.000 0.071 2473 810 3249

5460 -0.86 -146.0 404.4 -6.0 419 5465 0.12 2.35 0.00 0.000 6 0.142 0.070 2496 2232 3249

5773 -0.95 -146.0 421.2 -5.3 427 5775 0.10 0.00 0.00 0.000 6 0.094 0.000 2454 2232 3249

6054 end dive: TARGET_DEPTH_EXCEEDED

state 6054 begin apogee

6061 -0.31 0.0 440.8 7.0 434 6188 0.52 0.00 124.40 1.178 6 0.133 0.000 2616 1740 2650

6189 end apogee: CONTROL_FINISHED_OK

state 6189 begin climb

6192 0.99 146.0 443.7 0.0 437 6330 0.88 2.65 130.07 1.091 4 0.101 0.074 2904 324 2054

6445 0.77 146.0 421.2 10.8 442 6452 0.22 2.55 0.00 0.000 6 0.135 0.063 2844 1753 2049

6756 0.77 146.0 396.9 7.7 451 6760 0.00 2.38 0.00 0.000 4 0.000 0.076 2844 3155 2046

6840 0.65 146.0 390.0 7.8 454 6847 0.12 2.35 0.00 0.000 6 0.134 0.058 2819 1732 2045

7157 0.76 146.0 367.9 7.2 470 7159 0.10 0.00 0.00 0.000 6 0.082 0.000 2865 1732 2046

7465 0.71 146.0 341.2 8.5 485 7467 0.12 0.00 0.00 0.000 6 0.127 0.000 2829 1732 2046

7775 0.89 212.9 323.5 4.9 500 7840 0.15 2.40 56.30 1.079 4 0.075 0.073 2902 324 1781

7879 0.83 212.9 315.4 8.8 504 7886 0.17 2.40 0.00 0.000 6 0.130 0.061 2853 1743 1779

8195 0.93 212.9 293.8 7.4 520 8200 0.10 2.33 0.00 0.000 4 0.084 0.074 2897 3160 1772

8286 0.74 212.9 283.6 12.3 524 8291 0.25 2.30 0.00 0.000 6 0.131 0.058 2834 1737 1771

8608 0.94 223.8 259.6 6.7 540 8619 0.17 0.00 9.00 0.954 6 0.069 0.000 2911 1736 1737

8916 0.85 223.8 232.5 8.5 555 8918 0.17 0.00 0.00 0.000 6 0.128 0.000 2859 1736 1737

9226 0.99 249.1 213.2 6.2 570 9252 0.12 0.00 23.52 1.025 6 0.080 0.000 2911 1736 1634

9555 0.91 249.1 183.3 9.1 586 9557 0.12 0.00 0.00 0.000 6 0.135 0.000 2876 1736 1629

9864 1.01 259.3 161.8 6.7 601 9880 0.10 2.38 9.27 0.930 4 0.087 0.077 2930 330 1593

9903 0.93 259.3 158.6 8.8 602 9910 0.17 2.35 0.00 0.000 6 0.137 0.064 2880 1747 1593

10218 1.02 259.3 136.8 7.1 618 10223 0.10 2.30 0.00 0.000 4 0.086 0.077 2924 3160 1591

10285 0.81 259.3 129.5 12.1 621 10290 0.28 2.30 0.00 0.000 6 0.137 0.061 2854 1733 1590

10608 1.25 259.3 106.3 7.6 637 10612 0.28 2.33 0.00 0.000 4 0.078 0.075 2959 324 1590

10704 1.06 259.3 96.7 11.4 643 10710 0.17 2.35 0.00 0.000 6 0.143 0.065 2910 1750 1590

11048 1.06 259.3 69.1 7.2 704 11054 0.00 2.30 0.00 0.000 4 0.000 0.080 2910 3156 1589

11118 0.97 259.3 63.0 9.3 716 11125 0.12 2.30 0.00 0.000 6 0.141 0.062 2883 1730 1588

11464 1.11 260.5 40.2 7.0 777 11471 0.15 2.33 0.00 0.000 4 0.074 0.076 2956 317 1588

11506 1.06 260.5 36.6 8.7 784 11512 0.17 2.35 0.00 0.000 6 0.138 0.065 2907 1748 1588

11851 1.12 260.5 11.7 7.5 845 11857 0.00 2.30 0.00 0.000 4 0.000 0.081 2907 3155 1588

11897 1.12 260.5 7.7 8.6 853 11903 0.00 2.30 0.00 0.000 6 0.000 0.062 2915 1727 1588

11908 end climb: FINISH_DEPTH_REACHED

state 11908 begin subsurface finish

11916 0.09 73.5 6.8 -8.4 855 11947 0.65 2.38 -24.42 0.000 4 0.120 0.087 2701 324 2354

11948 end subsurface finish: CONTROL_FINISHED_OK

state 11948 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	349	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	24	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	500	CALL_NDIVES	1	R_STBD_OVSHOOT	22	INT_PRESSURE_YINT	0
D_CALL	3	COMM_SEQ	0	ROLL_AD_RATE	275	DEEPGLIDER	0
SURFACE_URGENCY	10	KERMIT	0	ROLL_MAXERRORS	0	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	5	N_NOCOMM	0	ROLL_ADJ_GAIN	0	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	10	N_NOSURFACE	0	ROLL_ADJ_DBAND	0	DEVICE1	2
T_DIVE	470	UPLOAD_DIVES_MAX	5	VBD_MIN	588	DEVICE2	20
T_MISSION	550	CALL_TRIES	3	VBD_MAX	3951	DEVICE3	-1
T_ABORT	1440	CALL_WAIT	60	C_VBD	2650	DEVICE4	-1
T_TURN	225	CAPUPLOAD	0	VBD_DBAND	2	DEVICE5	-1
T_TURN_SAMPINT	5	CAPMAXSIZE	100000	VBD_CNV	-0.24529999	DEVICE6	-1
T_NO_W	120	HEAPDBG	0	VBD_TIMEOUT	360	SMARTS	0
USE_BATHY	-2	T_GPS	3	PITCH_VBD_SHIFT	0.0012300001	SMARTDEVICE1	-1
USE_ICE	2	N_GPS	20	VBD_PUMP_AD_RATE_SURFACE	4	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.1	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_APOGEE	4	COMPASS_DEVICE	33
D_OFFGRID	900	T_GPS_CHARGE	-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	162120,6618.403,-6021.352,0,2074.5,0,-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	0.222,-0.071
_SM_DEPTHo	1.91	KALMAN_X	289138.1,-5047.3,2964.1,-265761.5,4849.5
_SM_ANGLEo	-1.1	KALMAN_Y	-218094.0,14658.3,-11060.0,226491.2,7311.6
GPS2	162120,6618.403,-6021.352,0,2074.5,0,-37.7	MHEAD_RNG_PITCHd_Wd	145.3,174814,-13.0,-7.021
SPEED_LIMITS	0.122,0.233	D_GRID	439

FREEZE	6.78,-1.751,-1.785	TCM_TEMP	14.90
FINISH1	6.8,1.026153,73	XPDR_PINGS	69
FINISH2	5.9	_24V_AH	22.1,60.250
RAFOS_CLK	561	_10V_AH	10.5,27.491
RAFOS	0,1227398651,0.083333,0.069722,123,59,59,58,58,57,687,157,124,193,181,210	DATA_FILE_SIZE	28378,860
RAFOS_FIX	6735.099121,-5752.243652,221108,202024,3,75,12.22	CAP_FILE_SIZE	102513,0
IRIDIUM_FIX	6548.42,-6029.22,160298,060607	CFSIZE	260165632,228061184
TT8_MAMPS	0.028379	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
HUMID	1836	SOUNDSPEED	1442.9
INTERNAL_PRESSURE	9.89296	GPS	221108,162120,6618.403,-6021.352,0,2074.5,0,-37.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	8	156	28.10	SBE_CT	602	24	319.53
Roll_motor	109	98	237.36	SBE_O2	0	0	0.00
VBD_pump_during_apogee	352	1178	9179.74	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	160.11
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	0	50	0.00
TT8	1511	19	316.15
LPSleep	8308	2	201.53
TT8_Active	485	19	101.59
TT8_Sampling	1522	39	638.15
TT8_CF8	176	45	84.94
TT8_Kalman	33	81	28.70
Analog_circuits	1318	12	166.18
GPS_charging	0	0	0.00
Compass	1511	8	126.93
RAFOS	1800	1	28.35
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	112	0.00	0.00	-92.85	0.000	6	0.000	0.000	2946	1748	3247
115	-0.99	-146.0	3.2	-3.1	17	122	1.42	1.55	0.00	0.000	4	0.099	0.070	2456	808	3248
191	-0.69	-146.0	10.5	-10.8	30	199	0.28	2.35	0.00	0.000	6	0.148	0.071	2526	2231	3251
536	-0.74	-146.0	37.6	-8.5	91	542	0.00	2.33	0.00	0.000	4	0.000	0.068	2528	807	3252
549	-0.74	-146.0	38.6	-8.2	93	555	0.00	2.35	0.00	0.000	6	0.000	0.070	2519	2234	3251
893	-0.74	-146.0	69.6	-9.0	154	899	0.00	2.33	0.00	0.000	4	0.000	0.070	2520	812	3251
906	-0.74	-146.0	70.8	-8.8	156	912	0.00	2.35	0.00	0.000	6	0.000	0.071	2512	2238	3251
1250	-0.74	-146.0	99.0	-7.4	217	1256	0.00	2.33	0.00	0.000	4	0.000	0.070	2512	817	3251
1369	-0.74	-146.0	107.3	-6.9	225	1373	0.00	2.35	0.00	0.000	6	0.000	0.071	2503	2243	3251
1696	-0.74	-146.0	130.6	-6.8	241	1697	0.00	0.00	0.00	0.000	6	0.000	0.000	2503	2242	3251
2007	-0.74	-146.0	150.4	-6.6	256	2011	0.00	2.35	0.00	0.000	4	0.000	0.071	2502	810	3250
2018	-0.74	-146.0	151.4	-7.0	256	2023	0.10	2.35	0.00	0.000	6	0.146	0.071	2519	2233	3250
2334	-0.83	-146.0	172.8	-6.9	271	2335	0.00	0.00	0.00	0.000	6	0.000	0.000	2519	2233	3250
2643	-0.91	-146.0	194.3	-7.1	286	2645	0.15	0.00	0.00	0.000	6	0.084	0.000	2460	2233	3250
2952	-0.79	-146.0	225.5	-10.0	301	2957	0.17	2.28	0.00	0.000	4	0.156	0.098	2499	3604	3250
2999	-0.84	-146.0	229.6	-8.9	303	3003	0.00	2.20	0.00	0.000	6	0.000	0.058	2498	2216	3250
3333	-0.84	-146.0	256.7	-8.6	319	3337	0.00	2.35	0.00	0.000	4	0.000	0.089	2490	3607	3250
3343	-0.84	-146.0	257.7	-8.5	319	3347	0.00	2.20	0.00	0.000	6	0.000	0.058	2489	2217	3249
3665	-0.84	-146.0	283.8	-8.1	335	3668	0.00	2.33	0.00	0.000	4	0.000	0.090	2480	3597	3249
3743	-0.84	-146.0	290.6	-8.7	338	3747	0.00	2.17	0.00	0.000	6	0.000	0.058	2480	2222	3250
4063	-0.84	-146.0	316.0	-7.5	354	4067	0.00	2.25	0.00	0.000	4	0.000	0.071	2479	820	3249
4102	-0.77	-146.0	319.0	-7.8	355	4109	0.15	2.35	0.00	0.000	6	0.140	0.071	2511	2241	3250
4419	-0.86	-146.0	337.2	-5.9	371	4423	0.00	2.33	0.00	0.000	4	0.000	0.071	2511	813	3250
4469	-0.91	-146.0	340.6	-6.8	373	4474	0.08	2.35	0.00	0.000	6	0.101	0.071	2466	2231	3250
4785	-0.86	-146.0	365.4	-7.4	388	4789	0.10	2.25	0.00	0.000	4	0.156	0.084	2483	3601	3250
4795	-0.86	-146.0	366.0	-7.1	388	4799	0.00	2.17	0.00	0.000	6	0.000	0.056	2482	2229	3249
5117	-0.86	-146.0	384.5	-5.5	404	5120	0.00	2.33	0.00	0.000	4	0.000	0.084	2473	3609	3250
5128	-0.86	-146.0	384.9	-5.2	404	5132	0.00	2.20	0.00	0.000	6	0.000	0.057	2473	2222	3249
5449	-0.86	-146.0	403.6	-5.9	419	5453	0.00	2.28	0.00	0.000	4	0.000	0.071	2473	810	3249
5460	-0.86	-146.0	404.4	-6.0	419	5465	0.12	2.35	0.00	0.000	6	0.142	0.070	2496	2232	3249
5773	-0.95	-146.0	421.2	-5.3	427	5775	0.10	0.00	0.00	0.000	6	0.094	0.000	2454	2232	3249
6054	end dive: TARGET_DEPTH_EXCEEDED
state	6054	begin apogee
6061	-0.31	0.0	440.8	7.0	434	6188	0.52	0.00	124.40	1.178	6	0.133	0.000	2616	1740	2650
6189	end apogee: CONTROL_FINISHED_OK
state	6189	begin climb
6192	0.99	146.0	443.7	0.0	437	6330	0.88	2.65	130.07	1.091	4	0.101	0.074	2904	324	2054
6445	0.77	146.0	421.2	10.8	442	6452	0.22	2.55	0.00	0.000	6	0.135	0.063	2844	1753	2049
6756	0.77	146.0	396.9	7.7	451	6760	0.00	2.38	0.00	0.000	4	0.000	0.076	2844	3155	2046
6840	0.65	146.0	390.0	7.8	454	6847	0.12	2.35	0.00	0.000	6	0.134	0.058	2819	1732	2045
7157	0.76	146.0	367.9	7.2	470	7159	0.10	0.00	0.00	0.000	6	0.082	0.000	2865	1732	2046
7465	0.71	146.0	341.2	8.5	485	7467	0.12	0.00	0.00	0.000	6	0.127	0.000	2829	1732	2046
7775	0.89	212.9	323.5	4.9	500	7840	0.15	2.40	56.30	1.079	4	0.075	0.073	2902	324	1781
7879	0.83	212.9	315.4	8.8	504	7886	0.17	2.40	0.00	0.000	6	0.130	0.061	2853	1743	1779
8195	0.93	212.9	293.8	7.4	520	8200	0.10	2.33	0.00	0.000	4	0.084	0.074	2897	3160	1772
8286	0.74	212.9	283.6	12.3	524	8291	0.25	2.30	0.00	0.000	6	0.131	0.058	2834	1737	1771
8608	0.94	223.8	259.6	6.7	540	8619	0.17	0.00	9.00	0.954	6	0.069	0.000	2911	1736	1737
8916	0.85	223.8	232.5	8.5	555	8918	0.17	0.00	0.00	0.000	6	0.128	0.000	2859	1736	1737
9226	0.99	249.1	213.2	6.2	570	9252	0.12	0.00	23.52	1.025	6	0.080	0.000	2911	1736	1634
9555	0.91	249.1	183.3	9.1	586	9557	0.12	0.00	0.00	0.000	6	0.135	0.000	2876	1736	1629
9864	1.01	259.3	161.8	6.7	601	9880	0.10	2.38	9.27	0.930	4	0.087	0.077	2930	330	1593
9903	0.93	259.3	158.6	8.8	602	9910	0.17	2.35	0.00	0.000	6	0.137	0.064	2880	1747	1593
10218	1.02	259.3	136.8	7.1	618	10223	0.10	2.30	0.00	0.000	4	0.086	0.077	2924	3160	1591
10285	0.81	259.3	129.5	12.1	621	10290	0.28	2.30	0.00	0.000	6	0.137	0.061	2854	1733	1590
10608	1.25	259.3	106.3	7.6	637	10612	0.28	2.33	0.00	0.000	4	0.078	0.075	2959	324	1590
10704	1.06	259.3	96.7	11.4	643	10710	0.17	2.35	0.00	0.000	6	0.143	0.065	2910	1750	1590
11048	1.06	259.3	69.1	7.2	704	11054	0.00	2.30	0.00	0.000	4	0.000	0.080	2910	3156	1589
11118	0.97	259.3	63.0	9.3	716	11125	0.12	2.30	0.00	0.000	6	0.141	0.062	2883	1730	1588
11464	1.11	260.5	40.2	7.0	777	11471	0.15	2.33	0.00	0.000	4	0.074	0.076	2956	317	1588
11506	1.06	260.5	36.6	8.7	784	11512	0.17	2.35	0.00	0.000	6	0.138	0.065	2907	1748	1588
11851	1.12	260.5	11.7	7.5	845	11857	0.00	2.30	0.00	0.000	4	0.000	0.081	2907	3155	1588
11897	1.12	260.5	7.7	8.6	853	11903	0.00	2.30	0.00	0.000	6	0.000	0.062	2915	1727	1588
11908	end climb: FINISH_DEPTH_REACHED
state	11908	begin subsurface finish
11916	0.09	73.5	6.8	-8.4	855	11947	0.65	2.38	-24.42	0.000	4	0.120	0.087	2701	324	2354
11948	end subsurface finish: CONTROL_FINISHED_OK
state	11948	begin surface