Glider dive log

DavisStrait Sep08 * SG108 * Dive index * Mission links * Dive 367 * 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 367 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 25 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 500 CALL_NDIVES 1 R_STBD_OVSHOOT 24 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 25 VBD_BLEED_AD_RATE 8

C_VBD 2650 MAX_BUOY 150 R_STBD_OVSHOOT 24 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 367 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 0.231,0.033

_SM_DEPTHo 3.86 KALMAN_X 160985.9,-11.3,-11.3,-281162.5,-2664.7

_SM_ANGLEo -6.9 KALMAN_Y -285777.3,-6.7,-6.7,209842.3,-361.6

GPS2 154059,6613.136,-6022.036,8,3.3,27,-37.3 MHEAD_RNG_PITCHd_Wd 119.2,180052,-13.0,-7.021

SPEED_LIMITS 0.122,0.233 D_GRID 411

Post-dive calculations and measurements:

FREEZE 6.92,-1.812,-1.794 TCM_TEMP 14.80

FINISH1 6.9,1.026286,67 XPDR_PINGS 26

FINISH2 6.0 _24V_AH 22.1,62.455

RAFOS_CLK 529 _10V_AH 10.5,28.367

RAFOS 1,1227600844,8.250000,8.234445,59,59,59,58,56,55,190,213,994,166,115,143 DATA_FILE_SIZE 28426,858

RAFOS_FIX 6551.716309,-6005.130859,251108,080800,2,102,0.28 CAP_FILE_SIZE 102502,0

IRIDIUM_FIX 6548.42,-6024.58,170298,151529 CFSIZE 260165632,227139584

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

HUMID 1805 SOUNDSPEED 1444.0

INTERNAL_PRESSURE 9.89296 GPS 251108,083200,6551.716,-6005.131,0,2101.5,0,-37.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 7 159 25.74 SBE_CT 600 24 318.40

Roll_motor 121 104 281.19 SBE_O2 0 0 0.00

VBD_pump_during_apogee 414 1146 10514.10 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 6 420 60.33

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 0 50 0.00

TT8 1527 19 319.42

LPSleep 7757 2 188.17

TT8_Active 519 19 108.75

TT8_Sampling 1491 39 625.36

TT8_CF8 186 45 90.07

TT8_Kalman 32 81 27.85

Analog_circuits 1345 12 169.52

GPS_charging 0 0 0.00

Compass 1482 8 124.54

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 -145.9 0.0 0.0 0 51 0.00 0.00 -33.00 0.000 2 0.000 0.000 2696 325 3076

54 -0.99 -146.0 3.0 -1.0 6 67 0.62 0.88 -7.55 0.000 4 0.056 0.100 2444 831 3247

212 -0.72 -146.0 19.6 -11.7 33 219 0.32 2.28 0.00 0.000 6 0.146 0.070 2525 2240 3253

556 -0.72 -146.0 46.6 -7.6 94 562 0.00 2.22 0.00 0.000 4 0.000 0.084 2518 3599 3253

620 -0.77 -146.0 51.6 -8.1 105 626 0.00 2.17 0.00 0.000 6 0.000 0.056 2518 2222 3253

965 -0.77 -146.0 77.7 -6.8 166 971 0.00 2.30 0.00 0.000 4 0.000 0.082 2508 3599 3253

1000 -0.77 -146.0 80.6 -7.9 172 1006 0.00 2.17 0.00 0.000 6 0.000 0.056 2508 2221 3253

1345 -0.77 -146.0 103.8 -6.1 225 1349 0.00 2.25 0.00 0.000 4 0.000 0.071 2513 819 3253

1391 -0.77 -146.0 106.8 -6.2 227 1394 0.00 2.35 0.00 0.000 6 0.000 0.070 2505 2245 3252

1724 -0.77 -146.0 129.7 -7.4 243 1728 0.00 2.33 0.00 0.000 4 0.000 0.069 2513 824 3252

1765 -0.77 -146.0 132.8 -7.4 245 1769 0.00 2.33 0.00 0.000 6 0.000 0.072 2505 2231 3252

2093 -0.77 -146.0 154.7 -6.4 261 2097 0.00 2.33 0.00 0.000 4 0.000 0.070 2513 812 3252

2143 -0.77 -146.0 158.1 -6.3 263 2147 0.00 2.35 0.00 0.000 6 0.000 0.070 2505 2238 3252

2472 -0.82 -146.0 182.1 -7.6 279 2476 0.00 2.25 0.00 0.000 4 0.000 0.084 2494 3605 3251

2489 -0.82 -146.0 183.6 -7.7 279 2495 0.00 2.20 0.00 0.000 6 0.000 0.057 2494 2217 3251

2805 -0.82 -146.0 206.0 -6.8 295 2806 0.00 0.00 0.00 0.000 6 0.000 0.000 2495 2216 3251

3114 -0.82 -146.0 226.8 -7.0 310 3118 0.00 2.25 0.00 0.000 4 0.000 0.071 2495 813 3251

3142 -0.82 -146.0 228.9 -7.6 311 3146 0.00 2.35 0.00 0.000 6 0.000 0.070 2487 2242 3251

3469 -0.82 -146.0 253.3 -7.0 327 3470 0.00 0.00 0.00 0.000 6 0.000 0.000 2487 2242 3251

3779 -0.82 -146.0 274.3 -6.7 342 3783 0.00 2.22 0.00 0.000 4 0.000 0.084 2476 3598 3251

3790 -0.82 -146.0 275.2 -6.6 342 3795 0.10 2.17 0.00 0.000 6 0.160 0.056 2501 2227 3251

4111 -0.90 -146.0 293.5 -5.3 358 4115 0.00 2.28 0.00 0.000 4 0.000 0.071 2501 816 3251

4129 -0.95 -146.0 294.5 -5.2 358 4135 0.00 2.35 0.00 0.000 6 0.000 0.069 2493 2241 3251

4445 -1.01 -146.0 311.8 -6.0 374 4450 0.12 2.33 0.00 0.000 4 0.082 0.069 2439 822 3250

4478 -0.80 -146.0 314.3 -7.7 375 4483 0.28 2.35 0.00 0.000 6 0.142 0.071 2509 2237 3250

4795 -0.93 -146.0 330.9 -4.6 390 4799 0.12 2.25 0.00 0.000 4 0.087 0.083 2449 3602 3251

4806 -1.02 -146.0 331.4 -4.6 390 4810 0.00 2.17 0.00 0.000 6 0.000 0.055 2449 2224 3250

5127 -0.93 -146.0 354.1 -7.4 406 5132 0.12 2.28 0.00 0.000 4 0.156 0.068 2487 810 3250

5160 -0.93 -146.0 356.5 -6.7 407 5167 0.00 2.35 0.00 0.000 6 0.000 0.067 2480 2239 3250

5476 -0.93 -146.0 375.8 -5.9 423 5480 0.00 2.22 0.00 0.000 4 0.000 0.082 2469 3600 3250

5532 -0.93 -146.0 379.6 -6.9 425 5536 0.00 2.17 0.00 0.000 6 0.000 0.054 2469 2216 3251

5856 -0.93 -146.0 398.2 -5.6 441 5857 0.00 0.00 0.00 0.000 6 0.000 0.000 2469 2216 3251

6095 end dive: TARGET_DEPTH_EXCEEDED

state 6095 begin apogee

6102 -0.31 0.0 412.2 5.7 448 6229 0.47 0.00 124.20 1.147 6 0.128 0.000 2620 1739 2650

6230 end apogee: CONTROL_FINISHED_OK

state 6230 begin climb

6233 0.99 146.0 413.7 0.0 451 6369 0.88 2.65 129.73 1.062 4 0.094 0.071 2897 3152 2054

6400 0.68 146.0 400.1 10.9 455 6405 0.30 2.50 0.00 0.000 6 0.133 0.054 2827 1739 2050

6728 0.77 184.9 379.2 5.8 471 6770 0.00 2.50 34.03 1.039 4 0.000 0.070 2835 333 1896

6799 0.90 184.9 374.5 7.2 474 6804 0.15 2.45 0.00 0.000 6 0.072 0.058 2896 1748 1895

7120 0.74 184.9 341.4 10.3 490 7125 0.20 2.35 0.00 0.000 4 0.131 0.072 2834 3160 1891

7198 0.68 184.9 334.3 8.8 493 7205 0.00 2.33 0.00 0.000 6 0.000 0.054 2843 1728 1890

7515 0.76 201.7 312.0 6.5 509 7534 0.00 0.00 14.77 1.002 6 0.000 0.000 2842 1728 1827

7844 0.82 201.7 289.5 7.7 525 7848 0.00 2.35 0.00 0.000 4 0.000 0.070 2842 3157 1825

7878 0.82 201.7 286.6 8.8 526 7882 0.00 2.28 0.00 0.000 6 0.000 0.056 2850 1734 1824

8199 0.90 209.1 263.0 6.8 542 8214 0.08 2.35 7.45 0.901 4 0.097 0.071 2901 334 1798

8248 0.82 209.1 258.6 9.0 544 8253 0.17 2.30 0.00 0.000 6 0.130 0.058 2850 1745 1798

8570 0.91 209.1 235.9 7.1 560 8574 0.10 2.28 0.00 0.000 4 0.084 0.071 2896 3152 1797

8648 0.69 209.1 227.9 10.5 563 8653 0.28 2.28 0.00 0.000 6 0.131 0.057 2824 1728 1796

8964 1.07 258.2 210.2 5.4 578 9016 0.25 2.45 44.08 1.015 4 0.077 0.071 2923 3151 1597

9073 0.76 258.2 200.8 11.0 583 9078 0.32 2.30 0.00 0.000 6 0.133 0.057 2837 1729 1592

9406 1.45 258.2 178.2 8.3 599 9411 0.45 2.30 0.00 0.000 4 0.086 0.071 2996 329 1588

9439 1.39 258.2 174.8 9.8 600 9445 0.00 2.33 0.00 0.000 6 0.000 0.061 2996 1743 1588

9755 1.06 258.2 130.0 13.9 616 9757 0.30 0.00 0.00 0.000 6 0.143 0.000 2908 1743 1587

10064 1.06 258.2 103.2 8.3 631 10068 0.00 2.38 0.00 0.000 4 0.000 0.074 2916 323 1586

10102 1.06 258.2 99.8 8.5 632 10109 0.00 2.35 0.00 0.000 6 0.000 0.063 2916 1753 1586

10446 1.06 258.2 71.5 8.4 693 10453 0.00 2.30 0.00 0.000 4 0.000 0.078 2916 3161 1585

10499 0.92 258.2 66.6 9.6 702 10506 0.17 2.28 0.00 0.000 6 0.135 0.059 2875 1741 1584

10845 1.11 296.6 45.2 5.8 763 10886 0.17 2.40 33.10 0.944 4 0.069 0.076 2950 3145 1440

10911 0.95 296.6 38.8 10.5 774 10918 0.28 2.30 0.00 0.000 6 0.133 0.059 2880 1733 1438

11256 1.17 327.9 16.6 6.0 835 11293 0.17 2.40 27.55 0.911 4 0.067 0.075 2965 327 1313

11333 1.11 327.9 8.9 12.2 848 11341 0.17 2.35 0.00 0.000 6 0.130 0.063 2916 1738 1312

11351 end climb: FINISH_DEPTH_REACHED

state 11351 begin subsurface finish

11359 0.08 67.0 6.9 -10.3 851 11401 0.68 2.38 -34.05 0.000 4 0.117 0.104 2685 3162 2380

11402 end subsurface finish: CONTROL_FINISHED_OK

state 11402 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	367	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	25	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	500	CALL_NDIVES	1	R_STBD_OVSHOOT	24	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	0.231,0.033
_SM_DEPTHo	3.86	KALMAN_X	160985.9,-11.3,-11.3,-281162.5,-2664.7
_SM_ANGLEo	-6.9	KALMAN_Y	-285777.3,-6.7,-6.7,209842.3,-361.6
GPS2	154059,6613.136,-6022.036,8,3.3,27,-37.3	MHEAD_RNG_PITCHd_Wd	119.2,180052,-13.0,-7.021
SPEED_LIMITS	0.122,0.233	D_GRID	411

FREEZE	6.92,-1.812,-1.794	TCM_TEMP	14.80
FINISH1	6.9,1.026286,67	XPDR_PINGS	26
FINISH2	6.0	_24V_AH	22.1,62.455
RAFOS_CLK	529	_10V_AH	10.5,28.367
RAFOS	1,1227600844,8.250000,8.234445,59,59,59,58,56,55,190,213,994,166,115,143	DATA_FILE_SIZE	28426,858
RAFOS_FIX	6551.716309,-6005.130859,251108,080800,2,102,0.28	CAP_FILE_SIZE	102502,0
IRIDIUM_FIX	6548.42,-6024.58,170298,151529	CFSIZE	260165632,227139584
TT8_MAMPS	0.026845	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
HUMID	1805	SOUNDSPEED	1444.0
INTERNAL_PRESSURE	9.89296	GPS	251108,083200,6551.716,-6005.131,0,2101.5,0,-37.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	7	159	25.74	SBE_CT	600	24	318.40
Roll_motor	121	104	281.19	SBE_O2	0	0	0.00
VBD_pump_during_apogee	414	1146	10514.10	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	6	420	60.33
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	0	50	0.00
TT8	1527	19	319.42
LPSleep	7757	2	188.17
TT8_Active	519	19	108.75
TT8_Sampling	1491	39	625.36
TT8_CF8	186	45	90.07
TT8_Kalman	32	81	27.85
Analog_circuits	1345	12	169.52
GPS_charging	0	0	0.00
Compass	1482	8	124.54
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	-145.9	0.0	0.0	0	51	0.00	0.00	-33.00	0.000	2	0.000	0.000	2696	325	3076
54	-0.99	-146.0	3.0	-1.0	6	67	0.62	0.88	-7.55	0.000	4	0.056	0.100	2444	831	3247
212	-0.72	-146.0	19.6	-11.7	33	219	0.32	2.28	0.00	0.000	6	0.146	0.070	2525	2240	3253
556	-0.72	-146.0	46.6	-7.6	94	562	0.00	2.22	0.00	0.000	4	0.000	0.084	2518	3599	3253
620	-0.77	-146.0	51.6	-8.1	105	626	0.00	2.17	0.00	0.000	6	0.000	0.056	2518	2222	3253
965	-0.77	-146.0	77.7	-6.8	166	971	0.00	2.30	0.00	0.000	4	0.000	0.082	2508	3599	3253
1000	-0.77	-146.0	80.6	-7.9	172	1006	0.00	2.17	0.00	0.000	6	0.000	0.056	2508	2221	3253
1345	-0.77	-146.0	103.8	-6.1	225	1349	0.00	2.25	0.00	0.000	4	0.000	0.071	2513	819	3253
1391	-0.77	-146.0	106.8	-6.2	227	1394	0.00	2.35	0.00	0.000	6	0.000	0.070	2505	2245	3252
1724	-0.77	-146.0	129.7	-7.4	243	1728	0.00	2.33	0.00	0.000	4	0.000	0.069	2513	824	3252
1765	-0.77	-146.0	132.8	-7.4	245	1769	0.00	2.33	0.00	0.000	6	0.000	0.072	2505	2231	3252
2093	-0.77	-146.0	154.7	-6.4	261	2097	0.00	2.33	0.00	0.000	4	0.000	0.070	2513	812	3252
2143	-0.77	-146.0	158.1	-6.3	263	2147	0.00	2.35	0.00	0.000	6	0.000	0.070	2505	2238	3252
2472	-0.82	-146.0	182.1	-7.6	279	2476	0.00	2.25	0.00	0.000	4	0.000	0.084	2494	3605	3251
2489	-0.82	-146.0	183.6	-7.7	279	2495	0.00	2.20	0.00	0.000	6	0.000	0.057	2494	2217	3251
2805	-0.82	-146.0	206.0	-6.8	295	2806	0.00	0.00	0.00	0.000	6	0.000	0.000	2495	2216	3251
3114	-0.82	-146.0	226.8	-7.0	310	3118	0.00	2.25	0.00	0.000	4	0.000	0.071	2495	813	3251
3142	-0.82	-146.0	228.9	-7.6	311	3146	0.00	2.35	0.00	0.000	6	0.000	0.070	2487	2242	3251
3469	-0.82	-146.0	253.3	-7.0	327	3470	0.00	0.00	0.00	0.000	6	0.000	0.000	2487	2242	3251
3779	-0.82	-146.0	274.3	-6.7	342	3783	0.00	2.22	0.00	0.000	4	0.000	0.084	2476	3598	3251
3790	-0.82	-146.0	275.2	-6.6	342	3795	0.10	2.17	0.00	0.000	6	0.160	0.056	2501	2227	3251
4111	-0.90	-146.0	293.5	-5.3	358	4115	0.00	2.28	0.00	0.000	4	0.000	0.071	2501	816	3251
4129	-0.95	-146.0	294.5	-5.2	358	4135	0.00	2.35	0.00	0.000	6	0.000	0.069	2493	2241	3251
4445	-1.01	-146.0	311.8	-6.0	374	4450	0.12	2.33	0.00	0.000	4	0.082	0.069	2439	822	3250
4478	-0.80	-146.0	314.3	-7.7	375	4483	0.28	2.35	0.00	0.000	6	0.142	0.071	2509	2237	3250
4795	-0.93	-146.0	330.9	-4.6	390	4799	0.12	2.25	0.00	0.000	4	0.087	0.083	2449	3602	3251
4806	-1.02	-146.0	331.4	-4.6	390	4810	0.00	2.17	0.00	0.000	6	0.000	0.055	2449	2224	3250
5127	-0.93	-146.0	354.1	-7.4	406	5132	0.12	2.28	0.00	0.000	4	0.156	0.068	2487	810	3250
5160	-0.93	-146.0	356.5	-6.7	407	5167	0.00	2.35	0.00	0.000	6	0.000	0.067	2480	2239	3250
5476	-0.93	-146.0	375.8	-5.9	423	5480	0.00	2.22	0.00	0.000	4	0.000	0.082	2469	3600	3250
5532	-0.93	-146.0	379.6	-6.9	425	5536	0.00	2.17	0.00	0.000	6	0.000	0.054	2469	2216	3251
5856	-0.93	-146.0	398.2	-5.6	441	5857	0.00	0.00	0.00	0.000	6	0.000	0.000	2469	2216	3251
6095	end dive: TARGET_DEPTH_EXCEEDED
state	6095	begin apogee
6102	-0.31	0.0	412.2	5.7	448	6229	0.47	0.00	124.20	1.147	6	0.128	0.000	2620	1739	2650
6230	end apogee: CONTROL_FINISHED_OK
state	6230	begin climb
6233	0.99	146.0	413.7	0.0	451	6369	0.88	2.65	129.73	1.062	4	0.094	0.071	2897	3152	2054
6400	0.68	146.0	400.1	10.9	455	6405	0.30	2.50	0.00	0.000	6	0.133	0.054	2827	1739	2050
6728	0.77	184.9	379.2	5.8	471	6770	0.00	2.50	34.03	1.039	4	0.000	0.070	2835	333	1896
6799	0.90	184.9	374.5	7.2	474	6804	0.15	2.45	0.00	0.000	6	0.072	0.058	2896	1748	1895
7120	0.74	184.9	341.4	10.3	490	7125	0.20	2.35	0.00	0.000	4	0.131	0.072	2834	3160	1891
7198	0.68	184.9	334.3	8.8	493	7205	0.00	2.33	0.00	0.000	6	0.000	0.054	2843	1728	1890
7515	0.76	201.7	312.0	6.5	509	7534	0.00	0.00	14.77	1.002	6	0.000	0.000	2842	1728	1827
7844	0.82	201.7	289.5	7.7	525	7848	0.00	2.35	0.00	0.000	4	0.000	0.070	2842	3157	1825
7878	0.82	201.7	286.6	8.8	526	7882	0.00	2.28	0.00	0.000	6	0.000	0.056	2850	1734	1824
8199	0.90	209.1	263.0	6.8	542	8214	0.08	2.35	7.45	0.901	4	0.097	0.071	2901	334	1798
8248	0.82	209.1	258.6	9.0	544	8253	0.17	2.30	0.00	0.000	6	0.130	0.058	2850	1745	1798
8570	0.91	209.1	235.9	7.1	560	8574	0.10	2.28	0.00	0.000	4	0.084	0.071	2896	3152	1797
8648	0.69	209.1	227.9	10.5	563	8653	0.28	2.28	0.00	0.000	6	0.131	0.057	2824	1728	1796
8964	1.07	258.2	210.2	5.4	578	9016	0.25	2.45	44.08	1.015	4	0.077	0.071	2923	3151	1597
9073	0.76	258.2	200.8	11.0	583	9078	0.32	2.30	0.00	0.000	6	0.133	0.057	2837	1729	1592
9406	1.45	258.2	178.2	8.3	599	9411	0.45	2.30	0.00	0.000	4	0.086	0.071	2996	329	1588
9439	1.39	258.2	174.8	9.8	600	9445	0.00	2.33	0.00	0.000	6	0.000	0.061	2996	1743	1588
9755	1.06	258.2	130.0	13.9	616	9757	0.30	0.00	0.00	0.000	6	0.143	0.000	2908	1743	1587
10064	1.06	258.2	103.2	8.3	631	10068	0.00	2.38	0.00	0.000	4	0.000	0.074	2916	323	1586
10102	1.06	258.2	99.8	8.5	632	10109	0.00	2.35	0.00	0.000	6	0.000	0.063	2916	1753	1586
10446	1.06	258.2	71.5	8.4	693	10453	0.00	2.30	0.00	0.000	4	0.000	0.078	2916	3161	1585
10499	0.92	258.2	66.6	9.6	702	10506	0.17	2.28	0.00	0.000	6	0.135	0.059	2875	1741	1584
10845	1.11	296.6	45.2	5.8	763	10886	0.17	2.40	33.10	0.944	4	0.069	0.076	2950	3145	1440
10911	0.95	296.6	38.8	10.5	774	10918	0.28	2.30	0.00	0.000	6	0.133	0.059	2880	1733	1438
11256	1.17	327.9	16.6	6.0	835	11293	0.17	2.40	27.55	0.911	4	0.067	0.075	2965	327	1313
11333	1.11	327.9	8.9	12.2	848	11341	0.17	2.35	0.00	0.000	6	0.130	0.063	2916	1738	1312
11351	end climb: FINISH_DEPTH_REACHED
state	11351	begin subsurface finish
11359	0.08	67.0	6.9	-10.3	851	11401	0.68	2.38	-34.05	0.000	4	0.117	0.104	2685	3162	2380
11402	end subsurface finish: CONTROL_FINISHED_OK
state	11402	begin surface