Glider dive log

DavisStrait Sep08 * SG108 * Dive index * Mission links * Dive 368 * 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 368 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 19 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 23 VBD_BLEED_AD_RATE 8

C_VBD 2650 MAX_BUOY 150 R_STBD_OVSHOOT 19 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 368 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 083200,6551.716,-6005.131,0,2101.5,0,-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 0.177,0.152

_SM_DEPTHo 4.25 KALMAN_X 167432.0,1479.6,1479.6,-278457.3,-2351.5

_SM_ANGLEo -4.3 KALMAN_Y -315766.0,-4797.6,-4797.6,210223.4,6805.8

GPS2 083200,6551.716,-6005.131,0,2101.5,0,-37.3 MHEAD_RNG_PITCHd_Wd 86.7,194150,-13.0,-7.021

SPEED_LIMITS 0.122,0.233 D_GRID 468

Post-dive calculations and measurements:

FREEZE 6.99,-1.808,-1.795 TCM_TEMP 14.90

FINISH1 7.0,1.026289,67 XPDR_PINGS 26

FINISH2 5.4 _24V_AH 22.1,62.569

RAFOS_CLK 616 _10V_AH 10.5,28.418

RAFOS 0,1227614659,12.083333,12.071944,60,59,56,54,51,51,166,210,147,156,220,841 DATA_FILE_SIZE 28432,899

RAFOS_FIX 6551.716309,-6005.130859,251108,080800,2,102,0.28 CAP_FILE_SIZE 104609,0

IRIDIUM_FIX 6548.42,-6024.58,170298,151529 CFSIZE 260165632,227086336

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

HUMID 1811 SOUNDSPEED 1445.0

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 7 157 27.36 SBE_CT 629 24 333.98

Roll_motor 93 87 181.55 SBE_O2 0 0 0.00

VBD_pump_during_apogee 366 1173 9499.83 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 1577 19 329.94

LPSleep 9544 2 231.50

TT8_Active 478 19 100.04

TT8_Sampling 1540 39 645.74

TT8_CF8 203 45 98.24

TT8_Kalman 32 81 28.10

Analog_circuits 1299 12 163.71

GPS_charging 0 0 0.00

Compass 1537 8 129.12

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

13 end surface: CONTROL_FINISHED_OK

state 13 begin dive

16 -0.99 -146.0 0.0 0.0 0 67 0.00 0.00 -46.80 0.000 6 0.000 0.000 2685 3162 3247

71 -0.99 -146.0 2.9 -2.9 9 78 0.62 3.88 0.00 0.000 4 0.081 0.063 2460 805 3248

147 -0.68 -146.0 10.9 -11.2 22 154 0.30 2.38 0.00 0.000 6 0.150 0.068 2534 2239 3251

493 -0.76 -146.0 35.2 -6.8 83 499 0.00 2.22 0.00 0.000 4 0.000 0.084 2526 3596 3252

529 -0.83 -146.0 37.8 -7.0 89 536 0.10 2.20 0.00 0.000 6 0.092 0.056 2484 2209 3252

874 -0.75 -146.0 71.6 -9.5 150 881 0.12 2.35 0.00 0.000 4 0.146 0.087 2509 3608 3252

912 -0.75 -146.0 75.0 -9.1 156 918 0.00 2.20 0.00 0.000 6 0.000 0.056 2509 2219 3252

1270 -0.75 -146.0 103.6 -7.9 214 1274 0.00 2.25 0.00 0.000 4 0.000 0.071 2509 817 3251

1286 -0.75 -146.0 104.9 -7.5 214 1292 0.00 2.33 0.00 0.000 6 0.000 0.068 2499 2234 3251

1602 -0.75 -146.0 132.0 -8.5 230 1606 0.00 2.22 0.00 0.000 4 0.000 0.082 2489 3604 3251

1640 -0.75 -146.0 135.5 -8.7 231 1647 0.12 2.17 0.00 0.000 6 0.155 0.057 2521 2227 3251

1957 -0.83 -146.0 156.0 -6.1 247 1959 0.10 0.00 0.00 0.000 6 0.096 0.000 2480 2226 3251

2266 -0.78 -146.0 179.9 -8.1 262 2267 0.12 0.00 0.00 0.000 6 0.154 0.000 2512 2226 3251

2576 -0.86 -146.0 200.7 -6.6 277 2581 0.00 2.28 0.00 0.000 4 0.000 0.072 2512 816 3251

2649 -0.93 -146.0 205.9 -6.7 280 2654 0.10 2.35 0.00 0.000 6 0.089 0.071 2462 2243 3251

2976 -0.84 -146.0 232.8 -8.2 296 2981 0.12 2.22 0.00 0.000 4 0.157 0.087 2486 3599 3250

3084 -0.84 -146.0 241.0 -7.2 300 3090 0.00 2.17 0.00 0.000 6 0.000 0.058 2487 2228 3250

3400 -0.84 -146.0 261.5 -6.2 316 3403 0.00 2.28 0.00 0.000 4 0.000 0.071 2486 810 3250

3451 -0.84 -146.0 264.9 -6.4 318 3455 0.00 2.35 0.00 0.000 6 0.000 0.069 2476 2237 3250

3772 -0.84 -146.0 284.4 -6.0 334 3773 0.00 0.00 0.00 0.000 6 0.000 0.000 2476 2237 3250

4083 -0.84 -146.0 304.3 -6.8 349 4084 0.00 0.00 0.00 0.000 6 0.000 0.000 2476 2237 3250

4393 -0.84 -146.0 324.7 -6.5 364 4397 0.00 2.30 0.00 0.000 4 0.000 0.070 2476 823 3250

4426 -0.78 -146.0 327.1 -6.6 365 4431 0.17 2.33 0.00 0.000 6 0.137 0.070 2515 2234 3250

4743 -0.93 -146.0 342.5 -5.0 380 4744 0.15 0.00 0.00 0.000 6 0.083 0.000 2456 2234 3250

5052 -0.86 -146.0 364.2 -7.3 395 5057 0.15 2.33 0.00 0.000 4 0.154 0.067 2501 813 3250

5097 -0.93 -146.0 367.0 -6.1 397 5101 0.00 2.35 0.00 0.000 6 0.000 0.067 2493 2244 3250

5419 -1.01 -146.0 384.7 -5.2 413 5423 0.12 2.22 0.00 0.000 4 0.084 0.081 2428 3604 3250

5464 -0.85 -146.0 387.9 -7.8 415 5469 0.22 2.17 0.00 0.000 6 0.150 0.054 2497 2222 3250

5811 -0.95 -146.0 404.9 -4.9 430 5813 0.10 0.00 0.00 0.000 6 0.096 0.000 2456 2222 3251

6136 -0.90 -146.0 425.0 -6.3 438 6138 0.12 0.00 0.00 0.000 6 0.152 0.000 2489 2222 3251

6461 -0.97 -146.0 441.6 -5.1 446 6464 0.00 2.25 0.00 0.000 4 0.000 0.068 2490 811 3252

6533 -0.97 -146.0 445.3 -4.8 447 6537 0.00 2.33 0.00 0.000 6 0.000 0.066 2481 2234 3252

6877 -0.97 -146.0 463.3 -5.3 456 6878 0.00 0.00 0.00 0.000 6 0.000 0.000 2481 2234 3252

6995 end dive: TARGET_DEPTH_EXCEEDED

state 6995 begin apogee

7002 -0.31 0.0 469.6 5.2 459 7129 0.43 0.00 124.80 1.174 6 0.123 0.000 2615 1733 2650

7130 end apogee: CONTROL_FINISHED_OK

state 7130 begin climb

7133 0.99 146.0 471.1 0.0 462 7268 0.88 0.00 131.02 1.088 6 0.093 0.000 2899 1733 2054

7581 0.78 146.0 428.8 9.9 473 7582 0.20 0.00 0.00 0.000 6 0.128 0.000 2843 1733 2047

7905 0.80 161.2 407.1 6.5 481 7920 0.00 0.00 12.98 1.015 6 0.000 0.000 2843 1733 1992

8212 0.80 163.0 386.5 7.0 493 8216 0.00 2.40 0.00 0.000 4 0.000 0.072 2842 3166 1991

8259 0.69 163.0 383.0 8.4 495 8263 0.00 2.30 0.00 0.000 6 0.000 0.054 2849 1731 1990

8590 0.69 163.0 358.9 7.1 511 8592 0.00 0.00 0.00 0.000 6 0.000 0.000 2849 1731 1990

8901 0.69 163.0 336.8 7.0 526 8902 0.00 0.00 0.00 0.000 6 0.000 0.000 2850 1731 1990

9209 0.69 163.0 314.6 7.1 541 9213 0.00 2.33 0.00 0.000 4 0.000 0.072 2850 3154 1990

9248 0.57 163.0 311.5 8.4 542 9256 0.20 2.25 0.00 0.000 6 0.127 0.054 2800 1737 1990

9565 0.98 183.4 293.0 6.4 558 9590 0.25 2.33 20.27 1.037 4 0.071 0.070 2913 321 1902

9677 0.82 183.4 282.9 9.8 563 9682 0.20 2.35 0.00 0.000 6 0.134 0.060 2856 1746 1902

10003 0.82 183.4 256.5 8.0 579 10007 0.00 2.28 0.00 0.000 4 0.000 0.071 2856 3155 1899

10053 0.72 183.4 252.1 9.2 581 10058 0.10 2.28 0.00 0.000 6 0.140 0.055 2835 1725 1899

10376 0.88 208.9 230.9 6.2 597 10401 0.12 0.00 22.48 1.010 6 0.077 0.000 2890 1725 1798

10704 0.81 208.9 203.6 8.6 613 10706 0.15 0.00 0.00 0.000 6 0.123 0.000 2846 1725 1795

11013 0.97 231.2 183.6 6.3 628 11039 0.15 2.42 20.15 0.985 4 0.074 0.071 2910 3159 1707

11080 0.75 231.2 177.0 11.0 631 11085 0.28 2.30 0.00 0.000 6 0.131 0.056 2838 1739 1705

11408 1.17 231.2 154.2 7.5 647 11413 0.28 2.35 0.00 0.000 4 0.073 0.073 2948 3154 1701

11550 0.88 231.2 136.7 14.0 653 11555 0.30 2.28 0.00 0.000 6 0.139 0.058 2870 1733 1701

11866 1.01 231.2 110.9 7.2 668 11868 0.12 0.00 0.00 0.000 6 0.079 0.000 2927 1733 1700

12191 0.92 231.2 84.3 8.2 707 12198 0.17 2.30 0.00 0.000 4 0.132 0.072 2884 327 1700

12233 1.01 233.8 81.3 6.9 714 12240 0.00 2.33 0.00 0.000 6 0.000 0.061 2884 1753 1700

12578 1.09 233.8 57.4 7.2 775 12585 0.12 2.28 0.00 0.000 4 0.078 0.077 2940 3155 1699

12620 0.93 233.8 53.3 9.8 782 12627 0.25 2.28 0.00 0.000 6 0.139 0.060 2877 1732 1699

12965 1.10 270.7 32.7 5.8 843 13006 0.15 0.00 34.60 0.941 6 0.072 0.000 2943 1732 1546

13247 end climb: FINISH_DEPTH_REACHED

state 13247 begin subsurface finish

13255 0.08 66.8 7.0 -9.8 893 13290 0.75 0.00 -27.55 0.000 6 0.120 0.000 2699 1732 2382

13290 end subsurface finish: CONTROL_FINISHED_OK

state 13291 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	368	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	19	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	083200,6551.716,-6005.131,0,2101.5,0,-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	0.177,0.152
_SM_DEPTHo	4.25	KALMAN_X	167432.0,1479.6,1479.6,-278457.3,-2351.5
_SM_ANGLEo	-4.3	KALMAN_Y	-315766.0,-4797.6,-4797.6,210223.4,6805.8
GPS2	083200,6551.716,-6005.131,0,2101.5,0,-37.3	MHEAD_RNG_PITCHd_Wd	86.7,194150,-13.0,-7.021
SPEED_LIMITS	0.122,0.233	D_GRID	468

FREEZE	6.99,-1.808,-1.795	TCM_TEMP	14.90
FINISH1	7.0,1.026289,67	XPDR_PINGS	26
FINISH2	5.4	_24V_AH	22.1,62.569
RAFOS_CLK	616	_10V_AH	10.5,28.418
RAFOS	0,1227614659,12.083333,12.071944,60,59,56,54,51,51,166,210,147,156,220,841	DATA_FILE_SIZE	28432,899
RAFOS_FIX	6551.716309,-6005.130859,251108,080800,2,102,0.28	CAP_FILE_SIZE	104609,0
IRIDIUM_FIX	6548.42,-6024.58,170298,151529	CFSIZE	260165632,227086336
TT8_MAMPS	0.026845	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
HUMID	1811	SOUNDSPEED	1445.0
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	157	27.36	SBE_CT	629	24	333.98
Roll_motor	93	87	181.55	SBE_O2	0	0	0.00
VBD_pump_during_apogee	366	1173	9499.83	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	1577	19	329.94
LPSleep	9544	2	231.50
TT8_Active	478	19	100.04
TT8_Sampling	1540	39	645.74
TT8_CF8	203	45	98.24
TT8_Kalman	32	81	28.10
Analog_circuits	1299	12	163.71
GPS_charging	0	0	0.00
Compass	1537	8	129.12
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
13	end surface: CONTROL_FINISHED_OK
state	13	begin dive
16	-0.99	-146.0	0.0	0.0	0	67	0.00	0.00	-46.80	0.000	6	0.000	0.000	2685	3162	3247
71	-0.99	-146.0	2.9	-2.9	9	78	0.62	3.88	0.00	0.000	4	0.081	0.063	2460	805	3248
147	-0.68	-146.0	10.9	-11.2	22	154	0.30	2.38	0.00	0.000	6	0.150	0.068	2534	2239	3251
493	-0.76	-146.0	35.2	-6.8	83	499	0.00	2.22	0.00	0.000	4	0.000	0.084	2526	3596	3252
529	-0.83	-146.0	37.8	-7.0	89	536	0.10	2.20	0.00	0.000	6	0.092	0.056	2484	2209	3252
874	-0.75	-146.0	71.6	-9.5	150	881	0.12	2.35	0.00	0.000	4	0.146	0.087	2509	3608	3252
912	-0.75	-146.0	75.0	-9.1	156	918	0.00	2.20	0.00	0.000	6	0.000	0.056	2509	2219	3252
1270	-0.75	-146.0	103.6	-7.9	214	1274	0.00	2.25	0.00	0.000	4	0.000	0.071	2509	817	3251
1286	-0.75	-146.0	104.9	-7.5	214	1292	0.00	2.33	0.00	0.000	6	0.000	0.068	2499	2234	3251
1602	-0.75	-146.0	132.0	-8.5	230	1606	0.00	2.22	0.00	0.000	4	0.000	0.082	2489	3604	3251
1640	-0.75	-146.0	135.5	-8.7	231	1647	0.12	2.17	0.00	0.000	6	0.155	0.057	2521	2227	3251
1957	-0.83	-146.0	156.0	-6.1	247	1959	0.10	0.00	0.00	0.000	6	0.096	0.000	2480	2226	3251
2266	-0.78	-146.0	179.9	-8.1	262	2267	0.12	0.00	0.00	0.000	6	0.154	0.000	2512	2226	3251
2576	-0.86	-146.0	200.7	-6.6	277	2581	0.00	2.28	0.00	0.000	4	0.000	0.072	2512	816	3251
2649	-0.93	-146.0	205.9	-6.7	280	2654	0.10	2.35	0.00	0.000	6	0.089	0.071	2462	2243	3251
2976	-0.84	-146.0	232.8	-8.2	296	2981	0.12	2.22	0.00	0.000	4	0.157	0.087	2486	3599	3250
3084	-0.84	-146.0	241.0	-7.2	300	3090	0.00	2.17	0.00	0.000	6	0.000	0.058	2487	2228	3250
3400	-0.84	-146.0	261.5	-6.2	316	3403	0.00	2.28	0.00	0.000	4	0.000	0.071	2486	810	3250
3451	-0.84	-146.0	264.9	-6.4	318	3455	0.00	2.35	0.00	0.000	6	0.000	0.069	2476	2237	3250
3772	-0.84	-146.0	284.4	-6.0	334	3773	0.00	0.00	0.00	0.000	6	0.000	0.000	2476	2237	3250
4083	-0.84	-146.0	304.3	-6.8	349	4084	0.00	0.00	0.00	0.000	6	0.000	0.000	2476	2237	3250
4393	-0.84	-146.0	324.7	-6.5	364	4397	0.00	2.30	0.00	0.000	4	0.000	0.070	2476	823	3250
4426	-0.78	-146.0	327.1	-6.6	365	4431	0.17	2.33	0.00	0.000	6	0.137	0.070	2515	2234	3250
4743	-0.93	-146.0	342.5	-5.0	380	4744	0.15	0.00	0.00	0.000	6	0.083	0.000	2456	2234	3250
5052	-0.86	-146.0	364.2	-7.3	395	5057	0.15	2.33	0.00	0.000	4	0.154	0.067	2501	813	3250
5097	-0.93	-146.0	367.0	-6.1	397	5101	0.00	2.35	0.00	0.000	6	0.000	0.067	2493	2244	3250
5419	-1.01	-146.0	384.7	-5.2	413	5423	0.12	2.22	0.00	0.000	4	0.084	0.081	2428	3604	3250
5464	-0.85	-146.0	387.9	-7.8	415	5469	0.22	2.17	0.00	0.000	6	0.150	0.054	2497	2222	3250
5811	-0.95	-146.0	404.9	-4.9	430	5813	0.10	0.00	0.00	0.000	6	0.096	0.000	2456	2222	3251
6136	-0.90	-146.0	425.0	-6.3	438	6138	0.12	0.00	0.00	0.000	6	0.152	0.000	2489	2222	3251
6461	-0.97	-146.0	441.6	-5.1	446	6464	0.00	2.25	0.00	0.000	4	0.000	0.068	2490	811	3252
6533	-0.97	-146.0	445.3	-4.8	447	6537	0.00	2.33	0.00	0.000	6	0.000	0.066	2481	2234	3252
6877	-0.97	-146.0	463.3	-5.3	456	6878	0.00	0.00	0.00	0.000	6	0.000	0.000	2481	2234	3252
6995	end dive: TARGET_DEPTH_EXCEEDED
state	6995	begin apogee
7002	-0.31	0.0	469.6	5.2	459	7129	0.43	0.00	124.80	1.174	6	0.123	0.000	2615	1733	2650
7130	end apogee: CONTROL_FINISHED_OK
state	7130	begin climb
7133	0.99	146.0	471.1	0.0	462	7268	0.88	0.00	131.02	1.088	6	0.093	0.000	2899	1733	2054
7581	0.78	146.0	428.8	9.9	473	7582	0.20	0.00	0.00	0.000	6	0.128	0.000	2843	1733	2047
7905	0.80	161.2	407.1	6.5	481	7920	0.00	0.00	12.98	1.015	6	0.000	0.000	2843	1733	1992
8212	0.80	163.0	386.5	7.0	493	8216	0.00	2.40	0.00	0.000	4	0.000	0.072	2842	3166	1991
8259	0.69	163.0	383.0	8.4	495	8263	0.00	2.30	0.00	0.000	6	0.000	0.054	2849	1731	1990
8590	0.69	163.0	358.9	7.1	511	8592	0.00	0.00	0.00	0.000	6	0.000	0.000	2849	1731	1990
8901	0.69	163.0	336.8	7.0	526	8902	0.00	0.00	0.00	0.000	6	0.000	0.000	2850	1731	1990
9209	0.69	163.0	314.6	7.1	541	9213	0.00	2.33	0.00	0.000	4	0.000	0.072	2850	3154	1990
9248	0.57	163.0	311.5	8.4	542	9256	0.20	2.25	0.00	0.000	6	0.127	0.054	2800	1737	1990
9565	0.98	183.4	293.0	6.4	558	9590	0.25	2.33	20.27	1.037	4	0.071	0.070	2913	321	1902
9677	0.82	183.4	282.9	9.8	563	9682	0.20	2.35	0.00	0.000	6	0.134	0.060	2856	1746	1902
10003	0.82	183.4	256.5	8.0	579	10007	0.00	2.28	0.00	0.000	4	0.000	0.071	2856	3155	1899
10053	0.72	183.4	252.1	9.2	581	10058	0.10	2.28	0.00	0.000	6	0.140	0.055	2835	1725	1899
10376	0.88	208.9	230.9	6.2	597	10401	0.12	0.00	22.48	1.010	6	0.077	0.000	2890	1725	1798
10704	0.81	208.9	203.6	8.6	613	10706	0.15	0.00	0.00	0.000	6	0.123	0.000	2846	1725	1795
11013	0.97	231.2	183.6	6.3	628	11039	0.15	2.42	20.15	0.985	4	0.074	0.071	2910	3159	1707
11080	0.75	231.2	177.0	11.0	631	11085	0.28	2.30	0.00	0.000	6	0.131	0.056	2838	1739	1705
11408	1.17	231.2	154.2	7.5	647	11413	0.28	2.35	0.00	0.000	4	0.073	0.073	2948	3154	1701
11550	0.88	231.2	136.7	14.0	653	11555	0.30	2.28	0.00	0.000	6	0.139	0.058	2870	1733	1701
11866	1.01	231.2	110.9	7.2	668	11868	0.12	0.00	0.00	0.000	6	0.079	0.000	2927	1733	1700
12191	0.92	231.2	84.3	8.2	707	12198	0.17	2.30	0.00	0.000	4	0.132	0.072	2884	327	1700
12233	1.01	233.8	81.3	6.9	714	12240	0.00	2.33	0.00	0.000	6	0.000	0.061	2884	1753	1700
12578	1.09	233.8	57.4	7.2	775	12585	0.12	2.28	0.00	0.000	4	0.078	0.077	2940	3155	1699
12620	0.93	233.8	53.3	9.8	782	12627	0.25	2.28	0.00	0.000	6	0.139	0.060	2877	1732	1699
12965	1.10	270.7	32.7	5.8	843	13006	0.15	0.00	34.60	0.941	6	0.072	0.000	2943	1732	1546
13247	end climb: FINISH_DEPTH_REACHED
state	13247	begin subsurface finish
13255	0.08	66.8	7.0	-9.8	893	13290	0.75	0.00	-27.55	0.000	6	0.120	0.000	2699	1732	2382
13290	end subsurface finish: CONTROL_FINISHED_OK
state	13291	begin surface