Glider dive log

DavisStrait Sep08 * SG108 * Dive index * Mission links * Dive 362 * 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 362 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 -119219.47 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 -119219.47

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 362 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 154059,6613.136,-6022.036,8,3.3,27,-37.3 TGT_NAME TARGET_E_IN

_CALLS 2 TGT_LATLONG 6703.000,-5648.000

_XMS_NAKs 5 TGT_RADIUS 10000.000

_XMS_TOUTs 1 KALMAN_CONTROL 0.231,0.032

_SM_DEPTHo 3.94 KALMAN_X 174059.1,202.5,202.5,-294684.8,-2924.1

_SM_ANGLEo -2.7 KALMAN_Y -284117.5,115.6,115.6,207925.7,-506.2

GPS2 154059,6613.136,-6022.036,8,3.3,27,-37.3 MHEAD_RNG_PITCHd_Wd 119.4,180052,-13.0,-7.021

SPEED_LIMITS 0.122,0.233 D_GRID 411

Post-dive calculations and measurements:

FREEZE 6.81,-1.808,-1.798 TCM_TEMP 14.70

FINISH1 6.8,1.026336,65 XPDR_PINGS 60

FINISH2 5.4 _24V_AH 22.0,61.872

RAFOS_CLK 540 _10V_AH 10.5,28.131

RAFOS 3,1227544446,16.583334,16.568333,115,63,58,56,53,50,725,174,205,187,144,221 DATA_FILE_SIZE 28396,857

RAFOS_FIX 109057.250000,-2411061.000000,241108,161636,2,93,29484.27 CAP_FILE_SIZE 106028,0

IRIDIUM_FIX 6548.42,-6024.58,170298,151529 CFSIZE 260165632,227397632

TT8_MAMPS 0.026845 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,0

HUMID 1812 SOUNDSPEED 1443.4

INTERNAL_PRESSURE 9.89296 GPS 231108,154059,6613.136,-6022.036,8,3.3,27,-37.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 7 161 26.13 SBE_CT 600 24 316.92

Roll_motor 125 88 242.61 SBE_O2 0 0 0.00

VBD_pump_during_apogee 393 1152 9980.13 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 15 420 138.60

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 0 50 0.00

TT8 1548 19 323.79

LPSleep 7857 2 190.59

TT8_Active 478 19 100.11

TT8_Sampling 1595 39 668.91

TT8_CF8 189 45 91.23

TT8_Kalman 32 81 27.83

Analog_circuits 1354 12 170.61

GPS_charging 0 0 0.00

Compass 1579 8 132.71

RAFOS 720 1 11.34

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

13 end surface: CONTROL_FINISHED_OK

state 13 begin dive

17 -0.99 -146.0 0.0 0.0 0 26 0.00 0.00 -7.50 0.000 2 0.000 0.000 2687 3160 2571

29 -0.99 -146.0 3.1 -0.0 1 70 0.62 3.85 -33.17 0.000 4 0.075 0.072 2453 807 3248

198 -0.73 -146.0 15.0 -8.8 30 205 0.28 2.38 0.00 0.000 6 0.145 0.076 2521 2240 3252

542 -0.73 -146.0 43.3 -7.8 91 548 0.00 0.00 0.00 0.000 6 0.000 0.000 2521 2240 3253

886 -0.79 -146.0 75.8 -6.0 152 892 0.00 2.22 0.00 0.000 4 0.000 0.085 2513 3598 3252

911 -0.84 -146.0 77.5 -6.0 156 917 0.00 2.17 0.00 0.000 6 0.000 0.057 2513 2223 3253

1263 -0.84 -146.0 102.9 -6.8 213 1267 0.00 2.30 0.00 0.000 4 0.000 0.084 2503 3598 3252

1324 -0.84 -146.0 107.0 -6.7 215 1330 0.00 2.17 0.00 0.000 6 0.000 0.057 2503 2222 3252

1639 -0.84 -146.0 129.6 -7.6 231 1643 0.00 2.30 0.00 0.000 4 0.000 0.084 2492 3602 3252

1650 -0.84 -146.0 130.4 -7.3 231 1654 0.00 2.17 0.00 0.000 6 0.000 0.057 2492 2222 3252

1973 -0.84 -146.0 152.9 -7.8 247 1977 0.00 2.30 0.00 0.000 4 0.000 0.084 2483 3596 3252

2057 -0.84 -146.0 160.3 -9.0 250 2063 0.00 2.17 0.00 0.000 6 0.000 0.057 2483 2220 3252

2372 -0.84 -146.0 187.4 -9.0 266 2373 0.00 0.00 0.00 0.000 6 0.000 0.000 2483 2220 3252

2682 -0.84 -146.0 212.0 -7.4 281 2683 0.00 0.00 0.00 0.000 6 0.000 0.000 2483 2220 3252

2991 -0.84 -146.0 231.8 -6.6 296 2995 0.00 2.33 0.00 0.000 4 0.000 0.084 2473 3605 3252

3001 -0.84 -146.0 232.6 -6.7 296 3006 0.10 2.20 0.00 0.000 6 0.161 0.057 2497 2216 3252

3324 -0.89 -146.0 254.8 -6.6 312 3327 0.00 2.33 0.00 0.000 4 0.000 0.083 2489 3608 3252

3340 -0.89 -146.0 256.1 -6.5 312 3346 0.00 2.20 0.00 0.000 6 0.000 0.057 2489 2218 3252

3656 -0.89 -146.0 275.7 -5.7 328 3660 0.00 2.25 0.00 0.000 4 0.000 0.070 2489 815 3251

3702 -0.89 -146.0 278.6 -6.3 330 3706 0.00 2.35 0.00 0.000 6 0.000 0.074 2480 2234 3251

4030 -0.89 -146.0 298.0 -5.8 346 4031 0.00 0.00 0.00 0.000 6 0.000 0.000 2479 2234 3252

4337 -0.89 -146.0 316.2 -5.9 361 4339 0.00 0.00 0.00 0.000 6 0.000 0.000 2480 2233 3251

4647 -0.89 -146.0 334.9 -5.8 376 4651 0.00 2.25 0.00 0.000 4 0.000 0.084 2469 3602 3251

4717 -0.89 -146.0 339.1 -5.9 379 4720 0.00 2.20 0.00 0.000 6 0.000 0.057 2469 2214 3251

5051 -0.85 -146.0 357.8 -6.0 395 5056 0.10 2.25 0.00 0.000 4 0.157 0.068 2497 816 3251

5118 -0.85 -146.0 361.7 -5.4 398 5123 0.00 2.35 0.00 0.000 6 0.000 0.069 2489 2239 3251

5440 -0.90 -146.0 380.7 -6.4 414 5444 0.00 2.33 0.00 0.000 4 0.000 0.070 2489 821 3251

5558 -0.90 -146.0 388.5 -6.3 419 5563 0.00 2.35 0.00 0.000 6 0.000 0.071 2479 2242 3251

5880 -0.90 -146.0 408.1 -6.1 432 5883 0.00 2.22 0.00 0.000 4 0.000 0.088 2468 3598 3251

5902 -0.90 -146.0 409.7 -6.2 432 5906 0.00 2.17 0.00 0.000 6 0.000 0.054 2468 2218 3251

5922 end dive: TARGET_DEPTH_EXCEEDED

state 5922 begin apogee

5929 -0.31 0.0 411.1 6.6 433 6056 0.47 0.00 124.65 1.152 6 0.129 0.000 2616 1743 2650

6057 end apogee: CONTROL_FINISHED_OK

state 6057 begin climb

6061 0.99 146.0 413.6 0.0 436 6198 0.88 2.67 129.75 1.068 4 0.097 0.072 2907 332 2054

6223 0.81 146.0 401.7 9.4 439 6230 0.20 2.58 0.00 0.000 6 0.136 0.059 2856 1746 2051

6538 0.81 146.0 378.0 7.7 454 6542 0.00 2.40 0.00 0.000 4 0.000 0.074 2856 3161 2047

6600 0.66 146.0 372.2 9.2 456 6607 0.15 2.38 0.00 0.000 6 0.139 0.058 2823 1736 2045

6916 0.76 158.5 351.7 6.6 472 6932 0.10 2.38 10.60 0.989 4 0.082 0.071 2880 320 2002

6989 0.70 158.5 345.4 8.6 474 6994 0.17 2.38 0.00 0.000 6 0.126 0.061 2829 1744 2003

7310 0.82 177.6 324.0 6.4 490 7333 0.12 2.40 17.88 1.036 4 0.079 0.074 2882 3162 1925

7380 0.59 177.6 317.5 10.6 493 7385 0.30 2.33 0.00 0.000 6 0.133 0.058 2805 1731 1923

7707 1.01 177.6 294.6 7.6 509 7712 0.28 2.40 0.00 0.000 4 0.073 0.074 2914 3153 1922

7872 0.71 177.6 275.5 13.2 516 7877 0.32 2.28 0.00 0.000 6 0.137 0.057 2827 1733 1921

8188 0.84 183.6 252.9 6.8 531 8200 0.12 2.30 6.25 0.876 4 0.075 0.071 2894 330 1901

8223 0.79 183.6 249.7 9.8 532 8230 0.17 2.33 0.00 0.000 6 0.131 0.061 2844 1750 1901

8539 0.89 183.6 227.5 7.0 548 8543 0.12 2.30 0.00 0.000 4 0.078 0.075 2897 3160 1901

8606 0.65 183.6 220.8 10.8 551 8611 0.30 2.28 0.00 0.000 6 0.135 0.058 2819 1740 1900

8927 1.03 188.9 199.3 6.9 567 8939 0.22 2.35 6.18 0.859 4 0.076 0.075 2912 3159 1879

8950 1.09 188.9 197.5 7.6 568 8954 0.00 2.28 0.00 0.000 6 0.000 0.058 2921 1734 1879

9279 0.94 188.9 169.1 9.0 584 9284 0.15 2.30 0.00 0.000 4 0.145 0.072 2887 329 1878

9396 0.94 188.9 160.2 7.6 589 9400 0.00 2.33 0.00 0.000 6 0.000 0.063 2887 1747 1879

9718 0.98 220.6 139.8 6.0 605 9753 0.00 2.40 28.12 0.992 4 0.000 0.079 2887 3160 1750

9810 0.88 220.6 132.7 8.8 609 9815 0.12 2.33 0.00 0.000 6 0.139 0.059 2863 1729 1746

10137 1.03 237.4 112.2 6.5 625 10160 0.15 2.33 15.27 0.942 4 0.075 0.073 2937 326 1682

10200 0.91 237.4 106.4 10.2 627 10207 0.22 2.38 0.00 0.000 6 0.137 0.064 2873 1754 1682

10536 1.04 245.8 84.0 6.8 676 10550 0.12 2.38 8.45 0.871 4 0.077 0.078 2926 3163 1647

10613 0.85 245.8 75.8 11.5 689 10620 0.25 2.33 0.00 0.000 6 0.137 0.061 2865 1728 1645

10959 1.02 247.0 50.9 7.0 750 10966 0.15 2.30 0.00 0.000 4 0.074 0.074 2938 332 1643

11012 0.94 247.0 45.9 10.2 759 11019 0.20 2.33 0.00 0.000 6 0.137 0.063 2881 1755 1644

11357 1.11 297.9 22.6 5.4 820 11411 0.15 2.38 46.62 0.927 4 0.074 0.083 2942 3159 1434

11464 0.95 297.9 12.0 11.3 838 11471 0.25 2.35 0.00 0.000 6 0.134 0.061 2881 1729 1430

11532 end climb: FINISH_DEPTH_REACHED

state 11532 begin subsurface finish

11539 0.08 64.5 6.8 -6.1 850 11581 0.55 2.38 -31.23 0.000 4 0.109 0.084 2696 327 2392

11582 end subsurface finish: CONTROL_FINISHED_OK

state 11582 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	362	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	-119219.47	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	154059,6613.136,-6022.036,8,3.3,27,-37.3	TGT_NAME	TARGET_E_IN
_CALLS	2	TGT_LATLONG	6703.000,-5648.000
_XMS_NAKs	5	TGT_RADIUS	10000.000
_XMS_TOUTs	1	KALMAN_CONTROL	0.231,0.032
_SM_DEPTHo	3.94	KALMAN_X	174059.1,202.5,202.5,-294684.8,-2924.1
_SM_ANGLEo	-2.7	KALMAN_Y	-284117.5,115.6,115.6,207925.7,-506.2
GPS2	154059,6613.136,-6022.036,8,3.3,27,-37.3	MHEAD_RNG_PITCHd_Wd	119.4,180052,-13.0,-7.021
SPEED_LIMITS	0.122,0.233	D_GRID	411

FREEZE	6.81,-1.808,-1.798	TCM_TEMP	14.70
FINISH1	6.8,1.026336,65	XPDR_PINGS	60
FINISH2	5.4	_24V_AH	22.0,61.872
RAFOS_CLK	540	_10V_AH	10.5,28.131
RAFOS	3,1227544446,16.583334,16.568333,115,63,58,56,53,50,725,174,205,187,144,221	DATA_FILE_SIZE	28396,857
RAFOS_FIX	109057.250000,-2411061.000000,241108,161636,2,93,29484.27	CAP_FILE_SIZE	106028,0
IRIDIUM_FIX	6548.42,-6024.58,170298,151529	CFSIZE	260165632,227397632
TT8_MAMPS	0.026845	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
HUMID	1812	SOUNDSPEED	1443.4
INTERNAL_PRESSURE	9.89296	GPS	231108,154059,6613.136,-6022.036,8,3.3,27,-37.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	7	161	26.13	SBE_CT	600	24	316.92
Roll_motor	125	88	242.61	SBE_O2	0	0	0.00
VBD_pump_during_apogee	393	1152	9980.13	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	15	420	138.60
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	0	50	0.00
TT8	1548	19	323.79
LPSleep	7857	2	190.59
TT8_Active	478	19	100.11
TT8_Sampling	1595	39	668.91
TT8_CF8	189	45	91.23
TT8_Kalman	32	81	27.83
Analog_circuits	1354	12	170.61
GPS_charging	0	0	0.00
Compass	1579	8	132.71
RAFOS	720	1	11.34
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
13	end surface: CONTROL_FINISHED_OK
state	13	begin dive
17	-0.99	-146.0	0.0	0.0	0	26	0.00	0.00	-7.50	0.000	2	0.000	0.000	2687	3160	2571
29	-0.99	-146.0	3.1	-0.0	1	70	0.62	3.85	-33.17	0.000	4	0.075	0.072	2453	807	3248
198	-0.73	-146.0	15.0	-8.8	30	205	0.28	2.38	0.00	0.000	6	0.145	0.076	2521	2240	3252
542	-0.73	-146.0	43.3	-7.8	91	548	0.00	0.00	0.00	0.000	6	0.000	0.000	2521	2240	3253
886	-0.79	-146.0	75.8	-6.0	152	892	0.00	2.22	0.00	0.000	4	0.000	0.085	2513	3598	3252
911	-0.84	-146.0	77.5	-6.0	156	917	0.00	2.17	0.00	0.000	6	0.000	0.057	2513	2223	3253
1263	-0.84	-146.0	102.9	-6.8	213	1267	0.00	2.30	0.00	0.000	4	0.000	0.084	2503	3598	3252
1324	-0.84	-146.0	107.0	-6.7	215	1330	0.00	2.17	0.00	0.000	6	0.000	0.057	2503	2222	3252
1639	-0.84	-146.0	129.6	-7.6	231	1643	0.00	2.30	0.00	0.000	4	0.000	0.084	2492	3602	3252
1650	-0.84	-146.0	130.4	-7.3	231	1654	0.00	2.17	0.00	0.000	6	0.000	0.057	2492	2222	3252
1973	-0.84	-146.0	152.9	-7.8	247	1977	0.00	2.30	0.00	0.000	4	0.000	0.084	2483	3596	3252
2057	-0.84	-146.0	160.3	-9.0	250	2063	0.00	2.17	0.00	0.000	6	0.000	0.057	2483	2220	3252
2372	-0.84	-146.0	187.4	-9.0	266	2373	0.00	0.00	0.00	0.000	6	0.000	0.000	2483	2220	3252
2682	-0.84	-146.0	212.0	-7.4	281	2683	0.00	0.00	0.00	0.000	6	0.000	0.000	2483	2220	3252
2991	-0.84	-146.0	231.8	-6.6	296	2995	0.00	2.33	0.00	0.000	4	0.000	0.084	2473	3605	3252
3001	-0.84	-146.0	232.6	-6.7	296	3006	0.10	2.20	0.00	0.000	6	0.161	0.057	2497	2216	3252
3324	-0.89	-146.0	254.8	-6.6	312	3327	0.00	2.33	0.00	0.000	4	0.000	0.083	2489	3608	3252
3340	-0.89	-146.0	256.1	-6.5	312	3346	0.00	2.20	0.00	0.000	6	0.000	0.057	2489	2218	3252
3656	-0.89	-146.0	275.7	-5.7	328	3660	0.00	2.25	0.00	0.000	4	0.000	0.070	2489	815	3251
3702	-0.89	-146.0	278.6	-6.3	330	3706	0.00	2.35	0.00	0.000	6	0.000	0.074	2480	2234	3251
4030	-0.89	-146.0	298.0	-5.8	346	4031	0.00	0.00	0.00	0.000	6	0.000	0.000	2479	2234	3252
4337	-0.89	-146.0	316.2	-5.9	361	4339	0.00	0.00	0.00	0.000	6	0.000	0.000	2480	2233	3251
4647	-0.89	-146.0	334.9	-5.8	376	4651	0.00	2.25	0.00	0.000	4	0.000	0.084	2469	3602	3251
4717	-0.89	-146.0	339.1	-5.9	379	4720	0.00	2.20	0.00	0.000	6	0.000	0.057	2469	2214	3251
5051	-0.85	-146.0	357.8	-6.0	395	5056	0.10	2.25	0.00	0.000	4	0.157	0.068	2497	816	3251
5118	-0.85	-146.0	361.7	-5.4	398	5123	0.00	2.35	0.00	0.000	6	0.000	0.069	2489	2239	3251
5440	-0.90	-146.0	380.7	-6.4	414	5444	0.00	2.33	0.00	0.000	4	0.000	0.070	2489	821	3251
5558	-0.90	-146.0	388.5	-6.3	419	5563	0.00	2.35	0.00	0.000	6	0.000	0.071	2479	2242	3251
5880	-0.90	-146.0	408.1	-6.1	432	5883	0.00	2.22	0.00	0.000	4	0.000	0.088	2468	3598	3251
5902	-0.90	-146.0	409.7	-6.2	432	5906	0.00	2.17	0.00	0.000	6	0.000	0.054	2468	2218	3251
5922	end dive: TARGET_DEPTH_EXCEEDED
state	5922	begin apogee
5929	-0.31	0.0	411.1	6.6	433	6056	0.47	0.00	124.65	1.152	6	0.129	0.000	2616	1743	2650
6057	end apogee: CONTROL_FINISHED_OK
state	6057	begin climb
6061	0.99	146.0	413.6	0.0	436	6198	0.88	2.67	129.75	1.068	4	0.097	0.072	2907	332	2054
6223	0.81	146.0	401.7	9.4	439	6230	0.20	2.58	0.00	0.000	6	0.136	0.059	2856	1746	2051
6538	0.81	146.0	378.0	7.7	454	6542	0.00	2.40	0.00	0.000	4	0.000	0.074	2856	3161	2047
6600	0.66	146.0	372.2	9.2	456	6607	0.15	2.38	0.00	0.000	6	0.139	0.058	2823	1736	2045
6916	0.76	158.5	351.7	6.6	472	6932	0.10	2.38	10.60	0.989	4	0.082	0.071	2880	320	2002
6989	0.70	158.5	345.4	8.6	474	6994	0.17	2.38	0.00	0.000	6	0.126	0.061	2829	1744	2003
7310	0.82	177.6	324.0	6.4	490	7333	0.12	2.40	17.88	1.036	4	0.079	0.074	2882	3162	1925
7380	0.59	177.6	317.5	10.6	493	7385	0.30	2.33	0.00	0.000	6	0.133	0.058	2805	1731	1923
7707	1.01	177.6	294.6	7.6	509	7712	0.28	2.40	0.00	0.000	4	0.073	0.074	2914	3153	1922
7872	0.71	177.6	275.5	13.2	516	7877	0.32	2.28	0.00	0.000	6	0.137	0.057	2827	1733	1921
8188	0.84	183.6	252.9	6.8	531	8200	0.12	2.30	6.25	0.876	4	0.075	0.071	2894	330	1901
8223	0.79	183.6	249.7	9.8	532	8230	0.17	2.33	0.00	0.000	6	0.131	0.061	2844	1750	1901
8539	0.89	183.6	227.5	7.0	548	8543	0.12	2.30	0.00	0.000	4	0.078	0.075	2897	3160	1901
8606	0.65	183.6	220.8	10.8	551	8611	0.30	2.28	0.00	0.000	6	0.135	0.058	2819	1740	1900
8927	1.03	188.9	199.3	6.9	567	8939	0.22	2.35	6.18	0.859	4	0.076	0.075	2912	3159	1879
8950	1.09	188.9	197.5	7.6	568	8954	0.00	2.28	0.00	0.000	6	0.000	0.058	2921	1734	1879
9279	0.94	188.9	169.1	9.0	584	9284	0.15	2.30	0.00	0.000	4	0.145	0.072	2887	329	1878
9396	0.94	188.9	160.2	7.6	589	9400	0.00	2.33	0.00	0.000	6	0.000	0.063	2887	1747	1879
9718	0.98	220.6	139.8	6.0	605	9753	0.00	2.40	28.12	0.992	4	0.000	0.079	2887	3160	1750
9810	0.88	220.6	132.7	8.8	609	9815	0.12	2.33	0.00	0.000	6	0.139	0.059	2863	1729	1746
10137	1.03	237.4	112.2	6.5	625	10160	0.15	2.33	15.27	0.942	4	0.075	0.073	2937	326	1682
10200	0.91	237.4	106.4	10.2	627	10207	0.22	2.38	0.00	0.000	6	0.137	0.064	2873	1754	1682
10536	1.04	245.8	84.0	6.8	676	10550	0.12	2.38	8.45	0.871	4	0.077	0.078	2926	3163	1647
10613	0.85	245.8	75.8	11.5	689	10620	0.25	2.33	0.00	0.000	6	0.137	0.061	2865	1728	1645
10959	1.02	247.0	50.9	7.0	750	10966	0.15	2.30	0.00	0.000	4	0.074	0.074	2938	332	1643
11012	0.94	247.0	45.9	10.2	759	11019	0.20	2.33	0.00	0.000	6	0.137	0.063	2881	1755	1644
11357	1.11	297.9	22.6	5.4	820	11411	0.15	2.38	46.62	0.927	4	0.074	0.083	2942	3159	1434
11464	0.95	297.9	12.0	11.3	838	11471	0.25	2.35	0.00	0.000	6	0.134	0.061	2881	1729	1430
11532	end climb: FINISH_DEPTH_REACHED
state	11532	begin subsurface finish
11539	0.08	64.5	6.8	-6.1	850	11581	0.55	2.38	-31.23	0.000	4	0.109	0.084	2696	327	2392
11582	end subsurface finish: CONTROL_FINISHED_OK
state	11582	begin surface