Glider dive log

DavisStrait Sep08 * SG108 * Dive index * Mission links * Dive 351 * 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 351 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 23 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 23 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 351 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 043056,6703.883,-5927.936,0,4075.8,0,-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 -0.230,0.041

_SM_DEPTHo 4.19 KALMAN_X 301875.5,3066.2,-2213.7,-264308.7,15668.2

_SM_ANGLEo -4.1 KALMAN_Y -214492.8,-11874.2,8469.3,228206.7,2758.4

GPS2 043056,6703.883,-5927.936,0,4075.8,0,-37.7 MHEAD_RNG_PITCHd_Wd 317.8,115509,-13.0,-7.021

SPEED_LIMITS 0.122,0.233 D_GRID 1121

Post-dive calculations and measurements:

FREEZE 6.86,-1.755,-1.779 TCM_TEMP 14.90

FINISH1 6.9,1.026063,78 XPDR_PINGS 40

FINISH2 4.9 _24V_AH 22.0,60.488

RAFOS_CLK 582 _10V_AH 10.5,27.595

RAFOS 0,1227427441,8.083333,8.066944,97,62,62,59,56,56,745,184,144,195,219,157 DATA_FILE_SIZE 28470,875

RAFOS_FIX 1712.373413,-589031.750000,231108,080816,2,86,44983.59 CAP_FILE_SIZE 110990,0

IRIDIUM_FIX 6548.42,-6029.22,160298,060607 CFSIZE 260165632,227946496

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

HUMID 1808 SOUNDSPEED 1443.6

INTERNAL_PRESSURE 9.89296 GPS 231108,043056,6703.883,-5927.936,0,4075.8,0,-37.7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 6 152 21.91 SBE_CT 613 24 323.74

Roll_motor 122 92 250.68 SBE_O2 0 0 0.00

VBD_pump_during_apogee 383 1169 9862.11 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 10 420 92.40

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 0 50 0.00

TT8 1633 19 341.61

LPSleep 8593 2 208.43

TT8_Active 461 19 96.44

TT8_Sampling 1771 39 742.63

TT8_CF8 203 45 97.91

TT8_Kalman 33 81 28.70

Analog_circuits 1414 12 178.19

GPS_charging 0 0 0.00

Compass 1753 8 147.28

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 67 0.00 0.00 -46.58 0.000 6 0.000 0.000 2697 1732 3248

71 -0.99 -146.0 3.1 -2.5 9 77 0.68 0.00 0.00 0.000 6 0.088 0.000 2455 1732 3248

415 -0.78 -146.0 41.8 -12.1 70 422 0.20 3.15 0.00 0.000 4 0.146 0.080 2504 3607 3251

676 -0.78 -146.0 66.5 -8.6 116 682 0.00 2.22 0.00 0.000 6 0.000 0.058 2512 2210 3252

1020 -0.78 -146.0 92.8 -7.8 177 1025 0.00 0.00 0.00 0.000 6 0.000 0.000 2512 2210 3252

1355 -0.78 -146.0 114.7 -6.3 207 1358 0.00 2.22 0.00 0.000 4 0.000 0.071 2512 816 3252

1460 -0.78 -146.0 121.7 -6.7 211 1467 0.00 2.35 0.00 0.000 6 0.000 0.071 2504 2235 3251

1777 -0.78 -146.0 142.9 -7.0 227 1781 0.00 2.25 0.00 0.000 4 0.000 0.084 2493 3604 3251

1929 -0.78 -146.0 155.4 -8.3 233 1936 0.00 2.20 0.00 0.000 6 0.000 0.058 2493 2218 3251

2245 -0.78 -146.0 181.0 -7.9 249 2248 0.00 2.25 0.00 0.000 4 0.000 0.071 2493 817 3251

2301 -0.73 -146.0 185.6 -8.2 251 2306 0.15 2.35 0.00 0.000 6 0.137 0.071 2525 2240 3251

2622 -0.84 -146.0 204.6 -5.6 267 2627 0.10 2.25 0.00 0.000 4 0.094 0.084 2473 3607 3251

2707 -0.78 -146.0 211.2 -8.0 270 2714 0.15 2.20 0.00 0.000 6 0.153 0.058 2513 2224 3251

3025 -0.86 -146.0 231.2 -6.4 286 3029 0.00 2.28 0.00 0.000 4 0.000 0.072 2513 810 3251

3081 -0.86 -146.0 235.3 -6.9 288 3084 0.00 2.35 0.00 0.000 6 0.000 0.071 2505 2233 3251

3404 -0.86 -146.0 258.8 -7.3 304 3407 0.00 2.25 0.00 0.000 4 0.000 0.087 2495 3596 3251

3471 -0.86 -146.0 264.0 -7.4 307 3475 0.00 2.17 0.00 0.000 6 0.000 0.058 2495 2225 3251

3804 -0.86 -146.0 287.0 -6.6 323 3805 0.00 0.00 0.00 0.000 6 0.000 0.000 2495 2225 3251

4114 -0.86 -146.0 306.8 -5.5 338 4118 0.00 2.28 0.00 0.000 4 0.000 0.071 2495 810 3251

4175 -0.86 -146.0 310.0 -5.6 340 4182 0.00 2.35 0.00 0.000 6 0.000 0.071 2485 2233 3251

4491 -0.86 -146.0 328.1 -6.4 356 4495 0.00 2.25 0.00 0.000 4 0.000 0.084 2475 3606 3251

4678 -0.86 -146.0 341.8 -8.2 364 4683 0.00 2.20 0.00 0.000 6 0.000 0.058 2474 2218 3251

5005 -0.86 -146.0 365.3 -7.0 380 5007 0.00 0.00 0.00 0.000 6 0.000 0.000 2474 2218 3250

5317 -0.86 -146.0 383.6 -5.3 395 5321 0.00 2.28 0.00 0.000 4 0.000 0.074 2474 812 3250

5401 -0.86 -146.0 388.9 -5.9 398 5408 0.12 2.35 0.00 0.000 6 0.140 0.071 2499 2238 3250

5717 -0.97 -146.0 403.0 -4.9 413 5721 0.12 2.25 0.00 0.000 4 0.088 0.084 2439 3603 3251

5899 -0.87 -146.0 416.4 -7.8 417 5904 0.20 2.20 0.00 0.000 6 0.146 0.056 2495 2212 3250

6230 -0.97 -146.0 434.2 -5.3 425 6234 0.10 2.22 0.00 0.000 4 0.099 0.069 2453 814 3251

6456 end dive: NO_VERTICAL_VELOCITY

state 6457 begin apogee

6464 -0.31 0.0 440.1 0.0 430 6592 0.45 0.00 124.22 1.170 6 0.093 0.000 2613 1754 2650

6592 end apogee: CONTROL_FINISHED_OK

state 6593 begin climb

6596 0.99 146.0 439.8 0.0 433 6734 0.88 2.62 129.82 1.085 4 0.095 0.074 2896 3149 2053

6843 0.66 146.0 415.3 11.9 438 6848 0.30 2.45 0.00 0.000 6 0.140 0.057 2826 1739 2047

7155 0.72 146.0 394.3 8.0 447 7159 0.00 2.45 0.00 0.000 4 0.000 0.074 2826 3163 2046

7188 0.72 146.0 391.7 7.2 448 7193 0.00 2.38 0.00 0.000 6 0.000 0.056 2833 1728 2046

7510 0.72 146.0 368.9 7.1 464 7511 0.00 0.00 0.00 0.000 6 0.000 0.000 2833 1728 2046

7820 0.79 157.5 348.5 6.7 479 7834 0.00 2.38 9.23 0.981 4 0.000 0.074 2833 3154 2008

7874 0.75 157.5 344.5 7.6 481 7878 0.00 2.30 0.00 0.000 6 0.000 0.057 2843 1726 2009

8195 0.75 157.5 321.5 7.3 497 8199 0.00 2.38 0.00 0.000 4 0.000 0.073 2843 3161 2008

8212 0.76 169.0 320.3 6.6 497 8229 0.00 2.30 11.65 1.008 6 0.000 0.056 2853 1724 1960

8545 0.77 176.3 299.6 6.8 514 8559 0.00 2.40 7.75 0.936 4 0.000 0.072 2853 3150 1931

8589 0.70 176.3 296.3 7.6 516 8594 0.12 2.28 0.00 0.000 6 0.133 0.058 2827 1735 1931

8922 1.07 176.3 272.5 8.5 532 8927 0.22 2.30 0.00 0.000 4 0.074 0.071 2923 319 1931

8972 0.91 176.3 267.2 10.8 534 8977 0.17 2.35 0.00 0.000 6 0.142 0.062 2874 1752 1932

9289 0.91 176.3 241.5 7.6 549 9293 0.00 2.30 0.00 0.000 4 0.000 0.076 2874 3163 1931

9329 0.79 176.3 238.0 9.0 551 9333 0.12 2.30 0.00 0.000 6 0.137 0.058 2847 1726 1930

9659 0.93 200.0 216.8 6.3 567 9686 0.12 2.38 21.65 1.028 4 0.080 0.074 2902 3151 1833

9709 0.76 200.0 212.3 9.1 569 9714 0.25 2.30 0.00 0.000 6 0.133 0.058 2840 1731 1831

10025 1.13 210.7 192.4 6.7 584 10040 0.25 2.30 9.93 0.946 4 0.073 0.073 2951 327 1790

10167 0.93 210.7 179.3 9.6 590 10172 0.25 2.35 0.00 0.000 6 0.140 0.064 2879 1747 1790

10494 0.99 217.3 157.4 6.8 606 10507 0.00 2.38 7.03 0.881 4 0.000 0.077 2879 3162 1763

10531 0.99 217.3 154.0 8.2 607 10537 0.00 2.30 0.00 0.000 6 0.000 0.060 2886 1734 1763

10848 0.99 217.3 129.0 8.4 623 10849 0.00 0.00 0.00 0.000 6 0.000 0.000 2886 1734 1762

11157 1.00 222.9 104.8 6.8 638 11167 0.00 2.33 6.10 0.836 4 0.000 0.075 2897 323 1741

11185 1.06 235.8 102.9 6.6 639 11205 0.00 2.35 13.48 0.939 6 0.000 0.064 2897 1744 1687

11542 1.10 267.5 79.0 6.0 696 11578 0.08 2.35 28.80 0.958 4 0.098 0.078 2936 3152 1559

11636 0.91 267.5 71.4 8.8 712 11643 0.25 2.33 0.00 0.000 6 0.133 0.061 2874 1732 1555

11982 1.35 282.7 53.5 6.5 773 12001 0.28 2.40 13.60 0.910 4 0.077 0.075 2988 322 1497

12036 1.21 282.7 48.7 9.1 782 12043 0.17 2.38 0.00 0.000 6 0.153 0.065 2942 1746 1498

12381 1.21 282.7 19.5 8.3 843 12387 0.00 2.33 0.00 0.000 4 0.000 0.082 2942 3155 1494

12405 1.14 282.7 17.3 8.9 847 12412 0.10 2.30 0.00 0.000 6 0.151 0.061 2925 1733 1493

12530 end climb: FINISH_DEPTH_REACHED

state 12530 begin subsurface finish

12539 0.10 77.9 6.9 -7.9 869 12576 0.68 2.40 -28.25 0.000 4 0.118 0.093 2691 3160 2336

12576 end subsurface finish: CONTROL_FINISHED_OK

state 12576 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	351	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	23	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	043056,6703.883,-5927.936,0,4075.8,0,-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	-0.230,0.041
_SM_DEPTHo	4.19	KALMAN_X	301875.5,3066.2,-2213.7,-264308.7,15668.2
_SM_ANGLEo	-4.1	KALMAN_Y	-214492.8,-11874.2,8469.3,228206.7,2758.4
GPS2	043056,6703.883,-5927.936,0,4075.8,0,-37.7	MHEAD_RNG_PITCHd_Wd	317.8,115509,-13.0,-7.021
SPEED_LIMITS	0.122,0.233	D_GRID	1121

FREEZE	6.86,-1.755,-1.779	TCM_TEMP	14.90
FINISH1	6.9,1.026063,78	XPDR_PINGS	40
FINISH2	4.9	_24V_AH	22.0,60.488
RAFOS_CLK	582	_10V_AH	10.5,27.595
RAFOS	0,1227427441,8.083333,8.066944,97,62,62,59,56,56,745,184,144,195,219,157	DATA_FILE_SIZE	28470,875
RAFOS_FIX	1712.373413,-589031.750000,231108,080816,2,86,44983.59	CAP_FILE_SIZE	110990,0
IRIDIUM_FIX	6548.42,-6029.22,160298,060607	CFSIZE	260165632,227946496
TT8_MAMPS	0.026845	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
HUMID	1808	SOUNDSPEED	1443.6
INTERNAL_PRESSURE	9.89296	GPS	231108,043056,6703.883,-5927.936,0,4075.8,0,-37.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	6	152	21.91	SBE_CT	613	24	323.74
Roll_motor	122	92	250.68	SBE_O2	0	0	0.00
VBD_pump_during_apogee	383	1169	9862.11	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	10	420	92.40
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	0	50	0.00
TT8	1633	19	341.61
LPSleep	8593	2	208.43
TT8_Active	461	19	96.44
TT8_Sampling	1771	39	742.63
TT8_CF8	203	45	97.91
TT8_Kalman	33	81	28.70
Analog_circuits	1414	12	178.19
GPS_charging	0	0	0.00
Compass	1753	8	147.28
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	67	0.00	0.00	-46.58	0.000	6	0.000	0.000	2697	1732	3248
71	-0.99	-146.0	3.1	-2.5	9	77	0.68	0.00	0.00	0.000	6	0.088	0.000	2455	1732	3248
415	-0.78	-146.0	41.8	-12.1	70	422	0.20	3.15	0.00	0.000	4	0.146	0.080	2504	3607	3251
676	-0.78	-146.0	66.5	-8.6	116	682	0.00	2.22	0.00	0.000	6	0.000	0.058	2512	2210	3252
1020	-0.78	-146.0	92.8	-7.8	177	1025	0.00	0.00	0.00	0.000	6	0.000	0.000	2512	2210	3252
1355	-0.78	-146.0	114.7	-6.3	207	1358	0.00	2.22	0.00	0.000	4	0.000	0.071	2512	816	3252
1460	-0.78	-146.0	121.7	-6.7	211	1467	0.00	2.35	0.00	0.000	6	0.000	0.071	2504	2235	3251
1777	-0.78	-146.0	142.9	-7.0	227	1781	0.00	2.25	0.00	0.000	4	0.000	0.084	2493	3604	3251
1929	-0.78	-146.0	155.4	-8.3	233	1936	0.00	2.20	0.00	0.000	6	0.000	0.058	2493	2218	3251
2245	-0.78	-146.0	181.0	-7.9	249	2248	0.00	2.25	0.00	0.000	4	0.000	0.071	2493	817	3251
2301	-0.73	-146.0	185.6	-8.2	251	2306	0.15	2.35	0.00	0.000	6	0.137	0.071	2525	2240	3251
2622	-0.84	-146.0	204.6	-5.6	267	2627	0.10	2.25	0.00	0.000	4	0.094	0.084	2473	3607	3251
2707	-0.78	-146.0	211.2	-8.0	270	2714	0.15	2.20	0.00	0.000	6	0.153	0.058	2513	2224	3251
3025	-0.86	-146.0	231.2	-6.4	286	3029	0.00	2.28	0.00	0.000	4	0.000	0.072	2513	810	3251
3081	-0.86	-146.0	235.3	-6.9	288	3084	0.00	2.35	0.00	0.000	6	0.000	0.071	2505	2233	3251
3404	-0.86	-146.0	258.8	-7.3	304	3407	0.00	2.25	0.00	0.000	4	0.000	0.087	2495	3596	3251
3471	-0.86	-146.0	264.0	-7.4	307	3475	0.00	2.17	0.00	0.000	6	0.000	0.058	2495	2225	3251
3804	-0.86	-146.0	287.0	-6.6	323	3805	0.00	0.00	0.00	0.000	6	0.000	0.000	2495	2225	3251
4114	-0.86	-146.0	306.8	-5.5	338	4118	0.00	2.28	0.00	0.000	4	0.000	0.071	2495	810	3251
4175	-0.86	-146.0	310.0	-5.6	340	4182	0.00	2.35	0.00	0.000	6	0.000	0.071	2485	2233	3251
4491	-0.86	-146.0	328.1	-6.4	356	4495	0.00	2.25	0.00	0.000	4	0.000	0.084	2475	3606	3251
4678	-0.86	-146.0	341.8	-8.2	364	4683	0.00	2.20	0.00	0.000	6	0.000	0.058	2474	2218	3251
5005	-0.86	-146.0	365.3	-7.0	380	5007	0.00	0.00	0.00	0.000	6	0.000	0.000	2474	2218	3250
5317	-0.86	-146.0	383.6	-5.3	395	5321	0.00	2.28	0.00	0.000	4	0.000	0.074	2474	812	3250
5401	-0.86	-146.0	388.9	-5.9	398	5408	0.12	2.35	0.00	0.000	6	0.140	0.071	2499	2238	3250
5717	-0.97	-146.0	403.0	-4.9	413	5721	0.12	2.25	0.00	0.000	4	0.088	0.084	2439	3603	3251
5899	-0.87	-146.0	416.4	-7.8	417	5904	0.20	2.20	0.00	0.000	6	0.146	0.056	2495	2212	3250
6230	-0.97	-146.0	434.2	-5.3	425	6234	0.10	2.22	0.00	0.000	4	0.099	0.069	2453	814	3251
6456	end dive: NO_VERTICAL_VELOCITY
state	6457	begin apogee
6464	-0.31	0.0	440.1	0.0	430	6592	0.45	0.00	124.22	1.170	6	0.093	0.000	2613	1754	2650
6592	end apogee: CONTROL_FINISHED_OK
state	6593	begin climb
6596	0.99	146.0	439.8	0.0	433	6734	0.88	2.62	129.82	1.085	4	0.095	0.074	2896	3149	2053
6843	0.66	146.0	415.3	11.9	438	6848	0.30	2.45	0.00	0.000	6	0.140	0.057	2826	1739	2047
7155	0.72	146.0	394.3	8.0	447	7159	0.00	2.45	0.00	0.000	4	0.000	0.074	2826	3163	2046
7188	0.72	146.0	391.7	7.2	448	7193	0.00	2.38	0.00	0.000	6	0.000	0.056	2833	1728	2046
7510	0.72	146.0	368.9	7.1	464	7511	0.00	0.00	0.00	0.000	6	0.000	0.000	2833	1728	2046
7820	0.79	157.5	348.5	6.7	479	7834	0.00	2.38	9.23	0.981	4	0.000	0.074	2833	3154	2008
7874	0.75	157.5	344.5	7.6	481	7878	0.00	2.30	0.00	0.000	6	0.000	0.057	2843	1726	2009
8195	0.75	157.5	321.5	7.3	497	8199	0.00	2.38	0.00	0.000	4	0.000	0.073	2843	3161	2008
8212	0.76	169.0	320.3	6.6	497	8229	0.00	2.30	11.65	1.008	6	0.000	0.056	2853	1724	1960
8545	0.77	176.3	299.6	6.8	514	8559	0.00	2.40	7.75	0.936	4	0.000	0.072	2853	3150	1931
8589	0.70	176.3	296.3	7.6	516	8594	0.12	2.28	0.00	0.000	6	0.133	0.058	2827	1735	1931
8922	1.07	176.3	272.5	8.5	532	8927	0.22	2.30	0.00	0.000	4	0.074	0.071	2923	319	1931
8972	0.91	176.3	267.2	10.8	534	8977	0.17	2.35	0.00	0.000	6	0.142	0.062	2874	1752	1932
9289	0.91	176.3	241.5	7.6	549	9293	0.00	2.30	0.00	0.000	4	0.000	0.076	2874	3163	1931
9329	0.79	176.3	238.0	9.0	551	9333	0.12	2.30	0.00	0.000	6	0.137	0.058	2847	1726	1930
9659	0.93	200.0	216.8	6.3	567	9686	0.12	2.38	21.65	1.028	4	0.080	0.074	2902	3151	1833
9709	0.76	200.0	212.3	9.1	569	9714	0.25	2.30	0.00	0.000	6	0.133	0.058	2840	1731	1831
10025	1.13	210.7	192.4	6.7	584	10040	0.25	2.30	9.93	0.946	4	0.073	0.073	2951	327	1790
10167	0.93	210.7	179.3	9.6	590	10172	0.25	2.35	0.00	0.000	6	0.140	0.064	2879	1747	1790
10494	0.99	217.3	157.4	6.8	606	10507	0.00	2.38	7.03	0.881	4	0.000	0.077	2879	3162	1763
10531	0.99	217.3	154.0	8.2	607	10537	0.00	2.30	0.00	0.000	6	0.000	0.060	2886	1734	1763
10848	0.99	217.3	129.0	8.4	623	10849	0.00	0.00	0.00	0.000	6	0.000	0.000	2886	1734	1762
11157	1.00	222.9	104.8	6.8	638	11167	0.00	2.33	6.10	0.836	4	0.000	0.075	2897	323	1741
11185	1.06	235.8	102.9	6.6	639	11205	0.00	2.35	13.48	0.939	6	0.000	0.064	2897	1744	1687
11542	1.10	267.5	79.0	6.0	696	11578	0.08	2.35	28.80	0.958	4	0.098	0.078	2936	3152	1559
11636	0.91	267.5	71.4	8.8	712	11643	0.25	2.33	0.00	0.000	6	0.133	0.061	2874	1732	1555
11982	1.35	282.7	53.5	6.5	773	12001	0.28	2.40	13.60	0.910	4	0.077	0.075	2988	322	1497
12036	1.21	282.7	48.7	9.1	782	12043	0.17	2.38	0.00	0.000	6	0.153	0.065	2942	1746	1498
12381	1.21	282.7	19.5	8.3	843	12387	0.00	2.33	0.00	0.000	4	0.000	0.082	2942	3155	1494
12405	1.14	282.7	17.3	8.9	847	12412	0.10	2.30	0.00	0.000	6	0.151	0.061	2925	1733	1493
12530	end climb: FINISH_DEPTH_REACHED
state	12530	begin subsurface finish
12539	0.10	77.9	6.9	-7.9	869	12576	0.68	2.40	-28.25	0.000	4	0.118	0.093	2691	3160	2336
12576	end subsurface finish: CONTROL_FINISHED_OK
state	12576	begin surface