Glider dive log

DavisStrait Sep08 * SG108 * Dive index * Mission links * Dive 340 * 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 340 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 -118820.94 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 -118820.94

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 340 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 124109,6627.732,-6019.889,35,1.2,35,-37.7 TGT_NAME TARGET_W_IN

_CALLS 3 TGT_LATLONG 6642.000,-6043.000

_XMS_NAKs 0 TGT_RADIUS 8000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.226,-0.058

_SM_DEPTHo 2.37 KALMAN_X 229025.2,2100.2,-2961.8,-266112.7,4536.9

_SM_ANGLEo -4.2 KALMAN_Y -235089.4,-4186.4,10599.4,223520.2,8984.7

GPS2 124109,6627.732,-6019.889,35,1.2,35,-37.7 MHEAD_RNG_PITCHd_Wd 293.2,31382,-13.0,-7.021

SPEED_LIMITS 0.122,0.233 D_GRID 481

Post-dive calculations and measurements:

FREEZE 6.67,-1.736,-1.779 TCM_TEMP 14.90

FINISH1 6.7,1.026063,78 XPDR_PINGS 78

FINISH2 2.1 _24V_AH 22.1,59.095

RAFOS_CLK 589 _10V_AH 10.5,27.037

RAFOS 0,1227297843,20.083334,20.067499,67,61,57,57,53,52,197,163,127,209,177,147 DATA_FILE_SIZE 25307,794

RAFOS_FIX 6232.697266,-5331.492188,211108,000026,3,81,38.68 CAP_FILE_SIZE 107860,0

IRIDIUM_FIX 6553.70,-5721.04,150298,121201 CFSIZE 260165632,228634624

TT8_MAMPS 0.029146 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

HUMID 1815 SOUNDSPEED 1443.7

INTERNAL_PRESSURE 9.89296 GPS 211108,124109,6627.732,-6019.889,35,1.2,35,-37.7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 8 166 30.44 SBE_CT 555 24 294.88

Roll_motor 127 87 245.94 SBE_O2 0 0 0.00

VBD_pump_during_apogee 520 1184 13622.46 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 19 420 181.00

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 0 50 0.00

TT8 1448 19 302.89

LPSleep 8770 2 212.74

TT8_Active 615 19 128.76

TT8_Sampling 1593 39 667.86

TT8_CF8 200 45 96.85

TT8_Kalman 33 81 28.70

Analog_circuits 1499 12 188.92

GPS_charging 0 0 0.00

Compass 1581 8 132.86

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

12 end surface: CONTROL_FINISHED_OK

state 12 begin dive

16 -0.99 -146.0 0.0 0.0 0 23 0.00 0.00 -5.65 0.000 2 0.000 0.000 2701 324 2464

27 -0.99 -146.0 3.2 -0.0 1 68 0.62 5.47 -33.05 0.000 4 0.058 0.081 2425 3600 3248

322 -0.63 -146.0 44.8 -9.9 53 329 0.38 2.20 0.00 0.000 6 0.166 0.059 2540 2221 3253

668 -0.71 -146.0 74.2 -10.4 114 674 0.00 2.33 0.00 0.000 4 0.000 0.081 2532 3610 3253

840 -0.82 -146.0 91.4 -8.5 144 847 0.12 2.22 0.00 0.000 6 0.087 0.058 2481 2213 3253

1182 -0.73 -146.0 121.9 -9.3 172 1184 0.15 0.00 0.00 0.000 6 0.146 0.000 2522 2213 3253

1490 -0.81 -146.0 143.6 -6.7 187 1491 0.00 0.00 0.00 0.000 6 0.000 0.000 2522 2212 3253

1799 -0.91 -146.0 163.2 -6.4 202 1804 0.15 2.25 0.00 0.000 4 0.082 0.070 2462 815 3253

1888 -0.75 -146.0 171.6 -9.9 206 1893 0.22 2.35 0.00 0.000 6 0.142 0.071 2515 2236 3253

2210 -0.82 -146.0 193.3 -6.2 222 2214 0.00 2.25 0.00 0.000 4 0.000 0.085 2507 3599 3252

2289 -0.90 -146.0 198.4 -6.7 225 2294 0.10 2.17 0.00 0.000 6 0.097 0.055 2465 2225 3253

2610 -0.79 -146.0 225.8 -8.5 241 2615 0.15 2.33 0.00 0.000 4 0.147 0.082 2498 3608 3252

2660 -0.86 -146.0 229.9 -8.1 243 2664 0.00 2.20 0.00 0.000 6 0.000 0.058 2498 2224 3253

2980 -0.86 -146.0 253.0 -7.2 259 2984 0.00 2.28 0.00 0.000 4 0.000 0.071 2498 809 3253

3120 -0.86 -146.0 264.3 -8.0 265 3125 0.00 2.35 0.00 0.000 6 0.000 0.070 2488 2236 3253

3448 -0.86 -146.0 288.8 -7.6 281 3449 0.00 0.00 0.00 0.000 6 0.000 0.000 2488 2236 3253

3756 -0.86 -146.0 312.9 -7.6 296 3760 0.00 2.25 0.00 0.000 4 0.000 0.084 2478 3605 3252

3974 -0.86 -146.0 330.6 -8.3 305 3980 0.00 2.20 0.00 0.000 6 0.000 0.058 2478 2218 3252

4290 -0.86 -146.0 354.0 -6.9 321 4294 0.00 2.30 0.00 0.000 4 0.000 0.082 2468 3598 3252

4357 -0.86 -146.0 358.9 -7.8 324 4362 0.10 2.17 0.00 0.000 6 0.155 0.057 2492 2225 3252

4690 -0.92 -146.0 379.5 -6.0 340 4694 0.00 2.28 0.00 0.000 4 0.000 0.071 2497 811 3252

4872 -0.92 -146.0 391.2 -6.7 348 4876 0.00 2.38 0.00 0.000 6 0.000 0.084 2489 2239 3252

5217 -0.98 -146.0 413.3 -6.4 360 5219 0.10 0.00 0.00 0.000 6 0.094 0.000 2446 2239 3252

5541 -0.89 -146.0 437.6 -7.6 368 5546 0.15 2.35 0.00 0.000 4 0.151 0.068 2487 811 3252

5706 -0.89 -146.0 448.5 -6.6 371 5710 0.00 2.35 0.00 0.000 6 0.000 0.070 2479 2233 3252

6049 -0.96 -146.0 468.2 -5.0 380 6053 0.00 2.25 0.00 0.000 4 0.000 0.087 2469 3598 3252

6105 -0.91 -146.0 471.6 -5.5 381 6109 0.00 2.17 0.00 0.000 6 0.000 0.054 2469 2222 3252

6259 end dive: NO_VERTICAL_VELOCITY

state 6259 begin apogee

6266 -0.31 0.0 471.6 0.0 385 6394 0.45 0.00 124.85 1.184 6 0.114 0.000 2614 1742 2650

6395 end apogee: CONTROL_FINISHED_OK

state 6395 begin climb

6397 0.99 146.0 471.2 0.0 388 6537 0.88 2.62 131.20 1.102 4 0.095 0.070 2907 330 2054

6554 0.78 146.0 458.2 11.9 391 6561 0.22 2.58 0.00 0.000 6 0.139 0.060 2849 1741 2052

6886 0.73 146.0 432.2 7.6 400 6891 0.00 2.45 0.00 0.000 4 0.000 0.071 2857 333 2047

6910 0.73 146.0 430.3 8.0 400 6914 0.00 2.40 0.00 0.000 6 0.000 0.059 2857 1742 2047

7247 0.68 146.0 402.9 8.2 409 7251 0.12 2.33 0.00 0.000 4 0.134 0.071 2821 3155 2046

7263 0.68 146.0 401.4 8.3 409 7267 0.00 2.30 0.00 0.000 6 0.000 0.055 2829 1736 2046

7596 0.76 157.5 378.7 6.6 425 7610 0.00 2.38 9.52 0.995 4 0.000 0.074 2829 3155 2007

7627 0.77 161.0 376.4 6.9 426 7639 0.00 2.30 4.60 0.775 6 0.000 0.055 2839 1725 1994

7949 0.84 174.6 355.0 6.6 442 7971 0.08 2.42 13.32 1.031 4 0.100 0.072 2879 3157 1938

7977 0.76 174.6 352.7 8.4 443 7982 0.17 2.30 0.00 0.000 6 0.136 0.055 2839 1733 1938

8299 0.85 182.8 331.2 6.8 459 8313 0.10 2.40 8.77 0.967 4 0.085 0.074 2883 3150 1904

8336 0.67 182.8 327.9 9.3 460 8343 0.25 2.28 0.00 0.000 6 0.132 0.056 2820 1736 1904

8653 1.02 182.8 307.3 7.2 476 8658 0.22 2.35 0.00 0.000 4 0.072 0.073 2915 3153 1904

8689 0.82 182.8 304.2 8.8 477 8695 0.25 2.28 0.00 0.000 6 0.139 0.056 2853 1732 1903

9005 0.94 229.7 285.2 5.5 493 9052 0.12 2.42 41.38 1.065 4 0.077 0.074 2907 3157 1712

9112 0.73 229.7 276.3 9.8 498 9117 0.30 2.33 0.00 0.000 6 0.133 0.058 2829 1729 1708

9444 1.22 263.7 258.8 5.9 514 9480 0.32 2.35 29.40 1.035 4 0.079 0.073 2961 334 1575

9608 1.02 263.7 241.0 13.0 521 9613 0.22 2.35 0.00 0.000 6 0.140 0.062 2898 1748 1573

9924 1.02 263.7 213.7 8.0 536 9928 0.00 2.30 0.00 0.000 4 0.000 0.076 2898 3161 1569

9975 0.89 263.7 209.1 9.0 538 9980 0.12 2.30 0.00 0.000 6 0.140 0.058 2871 1734 1567

10296 1.01 263.7 186.2 7.9 554 10300 0.10 2.30 0.00 0.000 4 0.084 0.074 2928 323 1566

10318 1.01 263.7 184.1 9.6 555 10323 0.12 2.33 0.00 0.000 6 0.140 0.063 2895 1741 1566

10645 1.01 263.7 155.6 7.7 571 10649 0.00 2.33 0.00 0.000 4 0.000 0.079 2895 3161 1566

10695 0.92 263.7 151.1 8.6 573 10700 0.10 2.30 0.00 0.000 6 0.145 0.059 2875 1730 1565

11017 1.17 375.7 135.8 3.4 589 11120 0.20 2.47 96.80 0.983 4 0.069 0.074 2972 332 1118

11127 1.02 375.7 126.0 9.8 594 11132 0.25 2.42 0.00 0.000 6 0.131 0.061 2901 1744 1116

11448 1.24 448.2 110.5 4.7 610 11516 0.17 2.45 60.65 0.937 4 0.067 0.077 2972 3149 821

11539 1.10 448.2 100.4 14.2 614 11544 0.22 2.38 0.00 0.000 6 0.133 0.058 2920 1734 819

11882 1.24 448.2 76.6 10.3 674 11889 0.12 2.35 0.00 0.000 4 0.077 0.076 2982 330 810

11924 1.34 448.2 73.2 8.2 681 11930 0.00 2.35 0.00 0.000 6 0.000 0.064 2982 1740 810

12268 1.26 448.2 27.6 14.5 742 12274 0.12 0.00 0.00 0.000 6 0.147 0.000 2949 1740 807

12495 end climb: FINISH_DEPTH_REACHED

state 12495 begin subsurface finish

12502 0.10 78.0 6.7 -9.8 782 12572 0.75 2.35 -61.90 0.000 4 0.113 0.086 2698 333 2335

12573 end subsurface finish: CONTROL_FINISHED_OK

state 12573 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	340	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	-118820.94	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	124109,6627.732,-6019.889,35,1.2,35,-37.7	TGT_NAME	TARGET_W_IN
_CALLS	3	TGT_LATLONG	6642.000,-6043.000
_XMS_NAKs	0	TGT_RADIUS	8000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.226,-0.058
_SM_DEPTHo	2.37	KALMAN_X	229025.2,2100.2,-2961.8,-266112.7,4536.9
_SM_ANGLEo	-4.2	KALMAN_Y	-235089.4,-4186.4,10599.4,223520.2,8984.7
GPS2	124109,6627.732,-6019.889,35,1.2,35,-37.7	MHEAD_RNG_PITCHd_Wd	293.2,31382,-13.0,-7.021
SPEED_LIMITS	0.122,0.233	D_GRID	481

FREEZE	6.67,-1.736,-1.779	TCM_TEMP	14.90
FINISH1	6.7,1.026063,78	XPDR_PINGS	78
FINISH2	2.1	_24V_AH	22.1,59.095
RAFOS_CLK	589	_10V_AH	10.5,27.037
RAFOS	0,1227297843,20.083334,20.067499,67,61,57,57,53,52,197,163,127,209,177,147	DATA_FILE_SIZE	25307,794
RAFOS_FIX	6232.697266,-5331.492188,211108,000026,3,81,38.68	CAP_FILE_SIZE	107860,0
IRIDIUM_FIX	6553.70,-5721.04,150298,121201	CFSIZE	260165632,228634624
TT8_MAMPS	0.029146	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
HUMID	1815	SOUNDSPEED	1443.7
INTERNAL_PRESSURE	9.89296	GPS	211108,124109,6627.732,-6019.889,35,1.2,35,-37.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	8	166	30.44	SBE_CT	555	24	294.88
Roll_motor	127	87	245.94	SBE_O2	0	0	0.00
VBD_pump_during_apogee	520	1184	13622.46	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	19	420	181.00
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	0	50	0.00
TT8	1448	19	302.89
LPSleep	8770	2	212.74
TT8_Active	615	19	128.76
TT8_Sampling	1593	39	667.86
TT8_CF8	200	45	96.85
TT8_Kalman	33	81	28.70
Analog_circuits	1499	12	188.92
GPS_charging	0	0	0.00
Compass	1581	8	132.86
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
12	end surface: CONTROL_FINISHED_OK
state	12	begin dive
16	-0.99	-146.0	0.0	0.0	0	23	0.00	0.00	-5.65	0.000	2	0.000	0.000	2701	324	2464
27	-0.99	-146.0	3.2	-0.0	1	68	0.62	5.47	-33.05	0.000	4	0.058	0.081	2425	3600	3248
322	-0.63	-146.0	44.8	-9.9	53	329	0.38	2.20	0.00	0.000	6	0.166	0.059	2540	2221	3253
668	-0.71	-146.0	74.2	-10.4	114	674	0.00	2.33	0.00	0.000	4	0.000	0.081	2532	3610	3253
840	-0.82	-146.0	91.4	-8.5	144	847	0.12	2.22	0.00	0.000	6	0.087	0.058	2481	2213	3253
1182	-0.73	-146.0	121.9	-9.3	172	1184	0.15	0.00	0.00	0.000	6	0.146	0.000	2522	2213	3253
1490	-0.81	-146.0	143.6	-6.7	187	1491	0.00	0.00	0.00	0.000	6	0.000	0.000	2522	2212	3253
1799	-0.91	-146.0	163.2	-6.4	202	1804	0.15	2.25	0.00	0.000	4	0.082	0.070	2462	815	3253
1888	-0.75	-146.0	171.6	-9.9	206	1893	0.22	2.35	0.00	0.000	6	0.142	0.071	2515	2236	3253
2210	-0.82	-146.0	193.3	-6.2	222	2214	0.00	2.25	0.00	0.000	4	0.000	0.085	2507	3599	3252
2289	-0.90	-146.0	198.4	-6.7	225	2294	0.10	2.17	0.00	0.000	6	0.097	0.055	2465	2225	3253
2610	-0.79	-146.0	225.8	-8.5	241	2615	0.15	2.33	0.00	0.000	4	0.147	0.082	2498	3608	3252
2660	-0.86	-146.0	229.9	-8.1	243	2664	0.00	2.20	0.00	0.000	6	0.000	0.058	2498	2224	3253
2980	-0.86	-146.0	253.0	-7.2	259	2984	0.00	2.28	0.00	0.000	4	0.000	0.071	2498	809	3253
3120	-0.86	-146.0	264.3	-8.0	265	3125	0.00	2.35	0.00	0.000	6	0.000	0.070	2488	2236	3253
3448	-0.86	-146.0	288.8	-7.6	281	3449	0.00	0.00	0.00	0.000	6	0.000	0.000	2488	2236	3253
3756	-0.86	-146.0	312.9	-7.6	296	3760	0.00	2.25	0.00	0.000	4	0.000	0.084	2478	3605	3252
3974	-0.86	-146.0	330.6	-8.3	305	3980	0.00	2.20	0.00	0.000	6	0.000	0.058	2478	2218	3252
4290	-0.86	-146.0	354.0	-6.9	321	4294	0.00	2.30	0.00	0.000	4	0.000	0.082	2468	3598	3252
4357	-0.86	-146.0	358.9	-7.8	324	4362	0.10	2.17	0.00	0.000	6	0.155	0.057	2492	2225	3252
4690	-0.92	-146.0	379.5	-6.0	340	4694	0.00	2.28	0.00	0.000	4	0.000	0.071	2497	811	3252
4872	-0.92	-146.0	391.2	-6.7	348	4876	0.00	2.38	0.00	0.000	6	0.000	0.084	2489	2239	3252
5217	-0.98	-146.0	413.3	-6.4	360	5219	0.10	0.00	0.00	0.000	6	0.094	0.000	2446	2239	3252
5541	-0.89	-146.0	437.6	-7.6	368	5546	0.15	2.35	0.00	0.000	4	0.151	0.068	2487	811	3252
5706	-0.89	-146.0	448.5	-6.6	371	5710	0.00	2.35	0.00	0.000	6	0.000	0.070	2479	2233	3252
6049	-0.96	-146.0	468.2	-5.0	380	6053	0.00	2.25	0.00	0.000	4	0.000	0.087	2469	3598	3252
6105	-0.91	-146.0	471.6	-5.5	381	6109	0.00	2.17	0.00	0.000	6	0.000	0.054	2469	2222	3252
6259	end dive: NO_VERTICAL_VELOCITY
state	6259	begin apogee
6266	-0.31	0.0	471.6	0.0	385	6394	0.45	0.00	124.85	1.184	6	0.114	0.000	2614	1742	2650
6395	end apogee: CONTROL_FINISHED_OK
state	6395	begin climb
6397	0.99	146.0	471.2	0.0	388	6537	0.88	2.62	131.20	1.102	4	0.095	0.070	2907	330	2054
6554	0.78	146.0	458.2	11.9	391	6561	0.22	2.58	0.00	0.000	6	0.139	0.060	2849	1741	2052
6886	0.73	146.0	432.2	7.6	400	6891	0.00	2.45	0.00	0.000	4	0.000	0.071	2857	333	2047
6910	0.73	146.0	430.3	8.0	400	6914	0.00	2.40	0.00	0.000	6	0.000	0.059	2857	1742	2047
7247	0.68	146.0	402.9	8.2	409	7251	0.12	2.33	0.00	0.000	4	0.134	0.071	2821	3155	2046
7263	0.68	146.0	401.4	8.3	409	7267	0.00	2.30	0.00	0.000	6	0.000	0.055	2829	1736	2046
7596	0.76	157.5	378.7	6.6	425	7610	0.00	2.38	9.52	0.995	4	0.000	0.074	2829	3155	2007
7627	0.77	161.0	376.4	6.9	426	7639	0.00	2.30	4.60	0.775	6	0.000	0.055	2839	1725	1994
7949	0.84	174.6	355.0	6.6	442	7971	0.08	2.42	13.32	1.031	4	0.100	0.072	2879	3157	1938
7977	0.76	174.6	352.7	8.4	443	7982	0.17	2.30	0.00	0.000	6	0.136	0.055	2839	1733	1938
8299	0.85	182.8	331.2	6.8	459	8313	0.10	2.40	8.77	0.967	4	0.085	0.074	2883	3150	1904
8336	0.67	182.8	327.9	9.3	460	8343	0.25	2.28	0.00	0.000	6	0.132	0.056	2820	1736	1904
8653	1.02	182.8	307.3	7.2	476	8658	0.22	2.35	0.00	0.000	4	0.072	0.073	2915	3153	1904
8689	0.82	182.8	304.2	8.8	477	8695	0.25	2.28	0.00	0.000	6	0.139	0.056	2853	1732	1903
9005	0.94	229.7	285.2	5.5	493	9052	0.12	2.42	41.38	1.065	4	0.077	0.074	2907	3157	1712
9112	0.73	229.7	276.3	9.8	498	9117	0.30	2.33	0.00	0.000	6	0.133	0.058	2829	1729	1708
9444	1.22	263.7	258.8	5.9	514	9480	0.32	2.35	29.40	1.035	4	0.079	0.073	2961	334	1575
9608	1.02	263.7	241.0	13.0	521	9613	0.22	2.35	0.00	0.000	6	0.140	0.062	2898	1748	1573
9924	1.02	263.7	213.7	8.0	536	9928	0.00	2.30	0.00	0.000	4	0.000	0.076	2898	3161	1569
9975	0.89	263.7	209.1	9.0	538	9980	0.12	2.30	0.00	0.000	6	0.140	0.058	2871	1734	1567
10296	1.01	263.7	186.2	7.9	554	10300	0.10	2.30	0.00	0.000	4	0.084	0.074	2928	323	1566
10318	1.01	263.7	184.1	9.6	555	10323	0.12	2.33	0.00	0.000	6	0.140	0.063	2895	1741	1566
10645	1.01	263.7	155.6	7.7	571	10649	0.00	2.33	0.00	0.000	4	0.000	0.079	2895	3161	1566
10695	0.92	263.7	151.1	8.6	573	10700	0.10	2.30	0.00	0.000	6	0.145	0.059	2875	1730	1565
11017	1.17	375.7	135.8	3.4	589	11120	0.20	2.47	96.80	0.983	4	0.069	0.074	2972	332	1118
11127	1.02	375.7	126.0	9.8	594	11132	0.25	2.42	0.00	0.000	6	0.131	0.061	2901	1744	1116
11448	1.24	448.2	110.5	4.7	610	11516	0.17	2.45	60.65	0.937	4	0.067	0.077	2972	3149	821
11539	1.10	448.2	100.4	14.2	614	11544	0.22	2.38	0.00	0.000	6	0.133	0.058	2920	1734	819
11882	1.24	448.2	76.6	10.3	674	11889	0.12	2.35	0.00	0.000	4	0.077	0.076	2982	330	810
11924	1.34	448.2	73.2	8.2	681	11930	0.00	2.35	0.00	0.000	6	0.000	0.064	2982	1740	810
12268	1.26	448.2	27.6	14.5	742	12274	0.12	0.00	0.00	0.000	6	0.147	0.000	2949	1740	807
12495	end climb: FINISH_DEPTH_REACHED
state	12495	begin subsurface finish
12502	0.10	78.0	6.7	-9.8	782	12572	0.75	2.35	-61.90	0.000	4	0.113	0.086	2698	333	2335
12573	end subsurface finish: CONTROL_FINISHED_OK
state	12573	begin surface