Glider dive log

DavisStrait Sep08 * SG108 * Dive index * Mission links * Dive 329 * 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 329 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 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 -118268.59 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 -118268.59

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 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 329 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 082120,6625.746,-6030.967,0,2075.0,0,-37.9 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 0.227,0.052

_SM_DEPTHo 6.22 KALMAN_X 126014.8,-75.0,-20771.5,-231992.8,-36378.4

_SM_ANGLEo -3.2 KALMAN_Y -278440.5,-7293.3,15390.8,217951.9,23568.6

GPS2 082120,6625.746,-6030.967,0,2075.0,0,-37.9 MHEAD_RNG_PITCHd_Wd 115.1,31367,-13.0,-7.021

SPEED_LIMITS 0.122,0.233 D_GRID 440

Post-dive calculations and measurements:

FREEZE 6.24,-1.757,-1.776 TCM_TEMP 14.90

FINISH1 6.2,1.026026,80 XPDR_PINGS 65

FINISH2 4.4 _24V_AH 22.2,57.550

RAFOS_CLK 549 _10V_AH 10.5,26.369

RAFOS 0,1227110641,16.083334,16.066944,89,68,67,59,57,55,565,196,213,114,158,138 DATA_FILE_SIZE 25262,789

RAFOS_FIX 6642.699707,-5950.224121,191108,161640,4,88,1.49 CAP_FILE_SIZE 104938,0

IRIDIUM_FIX 6614.97,-5912.45,100298,030321 CFSIZE 260165632,229388288

TT8_MAMPS 0.026078 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

HUMID 1810 SOUNDSPEED 1446.3

INTERNAL_PRESSURE 9.89296 GPS 191108,162640,6642.700,-5950.224,0,4087.8,0,-37.9

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 9 161 33.70 SBE_CT 552 24 294.56

Roll_motor 121 89 242.50 SBE_O2 0 0 0.00

VBD_pump_during_apogee 355 1150 9074.11 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 16 420 151.51

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 0 50 0.00

TT8 1449 19 303.10

LPSleep 8457 2 205.13

TT8_Active 451 19 94.53

TT8_Sampling 1429 39 599.20

TT8_CF8 167 45 80.77

TT8_Kalman 33 81 28.66

Analog_circuits 1236 12 155.78

GPS_charging 0 0 0.00

Compass 1420 8 119.29

RAFOS 1440 1 22.68

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 24 0.00 0.00 -6.53 0.000 2 0.000 0.000 2700 1732 2503

27 -0.99 -146.0 4.6 -0.0 1 63 0.62 1.50 -28.33 0.000 4 0.054 0.090 2451 805 3248

318 -0.72 -146.0 39.1 -12.6 52 324 0.30 2.38 0.00 0.000 6 0.153 0.083 2526 2237 3253

662 -0.72 -146.0 68.9 -7.7 113 668 0.00 2.33 0.00 0.000 4 0.000 0.068 2526 813 3254

708 -0.72 -146.0 72.7 -8.2 121 714 0.00 2.35 0.00 0.000 6 0.000 0.070 2518 2239 3253

1052 -0.72 -146.0 99.4 -6.6 182 1058 0.00 2.25 0.00 0.000 4 0.000 0.084 2508 3609 3253

1065 -0.72 -146.0 100.4 -6.4 184 1069 0.00 2.20 0.00 0.000 6 0.000 0.055 2508 2216 3253

1388 -0.72 -146.0 122.6 -7.0 200 1389 0.00 0.00 0.00 0.000 6 0.000 0.000 2508 2216 3253

1697 -0.72 -146.0 144.0 -7.3 215 1701 0.00 2.25 0.00 0.000 4 0.000 0.068 2507 808 3253

1798 -0.72 -146.0 151.5 -6.8 219 1803 0.10 2.35 0.00 0.000 6 0.143 0.070 2524 2232 3252

2115 -0.82 -146.0 168.9 -5.4 234 2116 0.00 0.00 0.00 0.000 6 0.000 0.000 2524 2232 3253

2424 -0.93 -146.0 187.6 -6.4 249 2428 0.17 2.33 0.00 0.000 4 0.079 0.067 2455 812 3252

2486 -0.75 -146.0 193.4 -9.5 252 2491 0.25 2.38 0.00 0.000 6 0.143 0.084 2517 2239 3252

2813 -0.85 -146.0 214.1 -5.8 268 2815 0.10 0.00 0.00 0.000 6 0.099 0.000 2478 2239 3252

3121 -0.85 -146.0 235.2 -6.5 283 3125 0.00 2.33 0.00 0.000 4 0.000 0.069 2478 814 3252

3133 -0.80 -146.0 236.0 -6.3 283 3138 0.15 2.35 0.00 0.000 6 0.144 0.070 2510 2236 3252

3451 -0.90 -146.0 253.3 -5.6 298 3455 0.10 2.33 0.00 0.000 4 0.097 0.067 2468 820 3251

3472 -0.85 -146.0 254.9 -6.7 299 3477 0.15 2.35 0.00 0.000 6 0.146 0.071 2499 2237 3252

3794 -0.91 -146.0 274.3 -6.1 315 3798 0.00 2.33 0.00 0.000 4 0.000 0.068 2500 816 3251

3826 -0.91 -146.0 276.7 -7.2 316 3830 0.00 2.35 0.00 0.000 6 0.000 0.071 2492 2236 3251

4148 -0.91 -146.0 297.7 -6.3 332 4152 0.00 2.33 0.00 0.000 4 0.000 0.067 2492 813 3251

4209 -0.91 -146.0 301.7 -6.8 334 4215 0.00 2.35 0.00 0.000 6 0.000 0.070 2483 2232 3251

4525 -0.91 -146.0 322.3 -6.4 350 4529 0.00 2.33 0.00 0.000 4 0.000 0.067 2483 810 3251

4541 -0.91 -146.0 323.6 -6.6 350 4547 0.00 2.38 0.00 0.000 6 0.000 0.069 2473 2246 3250

4857 -0.91 -146.0 343.3 -5.9 366 4861 0.00 2.33 0.00 0.000 4 0.000 0.066 2472 822 3251

4930 -0.84 -146.0 347.9 -5.9 369 4935 0.15 2.35 0.00 0.000 6 0.139 0.070 2502 2237 3251

5251 -0.94 -146.0 362.1 -4.5 385 5256 0.10 2.33 0.00 0.000 4 0.096 0.065 2461 814 3251

5302 -0.83 -146.0 365.1 -6.3 387 5307 0.17 2.35 0.00 0.000 6 0.140 0.069 2499 2236 3251

5618 -0.93 -146.0 380.4 -4.9 402 5621 0.00 2.33 0.00 0.000 4 0.000 0.066 2499 810 3251

5664 -0.93 -146.0 382.8 -5.2 404 5668 0.00 2.35 0.00 0.000 6 0.000 0.067 2492 2239 3251

5992 -1.00 -146.0 400.2 -5.3 420 5994 0.10 0.00 0.00 0.000 6 0.089 0.000 2446 2240 3252

6315 -0.90 -146.0 422.2 -6.8 428 6317 0.15 0.00 0.00 0.000 6 0.151 0.000 2487 2239 3252

6641 -0.96 -146.0 439.8 -5.3 436 6645 0.00 2.33 0.00 0.000 4 0.000 0.064 2487 812 3252

6650 end dive: TARGET_DEPTH_EXCEEDED

state 6651 begin apogee

6658 -0.31 0.0 440.4 5.3 436 6785 0.40 0.00 123.90 1.151 6 0.126 0.000 2612 1754 2650

6786 end apogee: CONTROL_FINISHED_OK

state 6786 begin climb

6788 0.99 146.0 442.6 0.0 439 6922 0.88 0.00 129.57 1.071 6 0.097 0.000 2894 1754 2054

7236 0.77 146.0 402.1 9.7 450 7241 0.17 2.40 0.00 0.000 4 0.129 0.071 2846 3162 2047

7275 0.63 146.0 398.6 8.2 451 7280 0.15 2.38 0.00 0.000 6 0.136 0.055 2814 1737 2046

7603 0.79 189.2 379.5 5.6 467 7647 0.12 2.45 36.95 1.062 4 0.074 0.069 2880 326 1877

7680 0.71 189.2 372.9 9.5 470 7685 0.17 2.40 0.00 0.000 6 0.126 0.059 2830 1748 1876

7997 0.79 189.7 350.9 7.0 485 8001 0.08 2.30 0.00 0.000 4 0.094 0.071 2869 3155 1872

8063 0.59 189.7 343.6 12.0 488 8068 0.25 2.28 0.00 0.000 6 0.131 0.054 2806 1737 1870

8384 1.00 189.7 319.2 8.4 504 8389 0.25 2.35 0.00 0.000 4 0.071 0.071 2907 3158 1870

8492 0.65 189.7 305.9 13.8 509 8497 0.32 2.28 0.00 0.000 6 0.140 0.054 2822 1733 1870

8819 0.81 195.7 280.5 6.8 525 8829 0.12 2.28 5.43 0.819 4 0.073 0.069 2890 333 1852

8875 0.73 195.7 275.5 9.5 527 8882 0.20 2.30 0.00 0.000 6 0.125 0.058 2830 1748 1853

9191 0.94 255.1 257.6 5.1 543 9250 0.17 2.33 52.50 1.022 4 0.068 0.071 2903 3150 1610

9303 0.69 255.1 246.6 12.3 547 9307 0.30 2.30 0.00 0.000 6 0.133 0.054 2826 1733 1605

9629 1.38 255.1 221.8 9.1 563 9634 0.45 2.30 0.00 0.000 4 0.089 0.067 2983 329 1599

9674 1.25 255.1 217.1 10.6 565 9679 0.15 2.33 0.00 0.000 6 0.161 0.060 2946 1742 1599

9995 1.02 255.1 178.1 11.8 581 9996 0.17 0.00 0.00 0.000 6 0.140 0.000 2893 1742 1599

10303 1.02 255.1 150.6 9.4 596 10307 0.00 2.30 0.00 0.000 4 0.000 0.075 2893 3155 1598

10337 0.91 255.1 147.1 10.4 597 10342 0.10 2.28 0.00 0.000 6 0.144 0.056 2874 1730 1597

10655 1.01 255.1 123.2 7.1 612 10659 0.10 2.30 0.00 0.000 4 0.087 0.071 2930 320 1597

10704 0.94 255.1 118.1 10.4 614 10709 0.17 2.33 0.00 0.000 6 0.132 0.061 2879 1743 1596

11030 1.06 264.0 93.4 6.7 641 11043 0.12 2.30 6.93 0.844 4 0.078 0.074 2934 3164 1573

11095 0.79 264.0 86.8 11.1 652 11102 0.32 2.30 0.00 0.000 6 0.137 0.058 2847 1729 1573

11440 1.44 264.0 62.7 8.4 713 11447 0.43 2.30 0.00 0.000 4 0.101 0.071 2993 320 1570

11483 1.57 264.0 58.6 9.9 720 11489 0.10 2.33 0.00 0.000 6 0.095 0.062 3032 1742 1570

11828 1.15 264.0 8.2 15.0 781 11834 0.32 2.30 0.00 0.000 4 0.152 0.076 2932 3151 1570

11839 end climb: FINISH_DEPTH_REACHED

state 11840 begin subsurface finish

11849 0.10 79.8 6.2 -14.2 783 11884 0.75 2.42 -26.42 0.000 4 0.127 0.087 2690 3158 2329

11885 end subsurface finish: CONTROL_FINISHED_OK

state 11885 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	329	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	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	-118268.59	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	082120,6625.746,-6030.967,0,2075.0,0,-37.9	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	0.227,0.052
_SM_DEPTHo	6.22	KALMAN_X	126014.8,-75.0,-20771.5,-231992.8,-36378.4
_SM_ANGLEo	-3.2	KALMAN_Y	-278440.5,-7293.3,15390.8,217951.9,23568.6
GPS2	082120,6625.746,-6030.967,0,2075.0,0,-37.9	MHEAD_RNG_PITCHd_Wd	115.1,31367,-13.0,-7.021
SPEED_LIMITS	0.122,0.233	D_GRID	440

FREEZE	6.24,-1.757,-1.776	TCM_TEMP	14.90
FINISH1	6.2,1.026026,80	XPDR_PINGS	65
FINISH2	4.4	_24V_AH	22.2,57.550
RAFOS_CLK	549	_10V_AH	10.5,26.369
RAFOS	0,1227110641,16.083334,16.066944,89,68,67,59,57,55,565,196,213,114,158,138	DATA_FILE_SIZE	25262,789
RAFOS_FIX	6642.699707,-5950.224121,191108,161640,4,88,1.49	CAP_FILE_SIZE	104938,0
IRIDIUM_FIX	6614.97,-5912.45,100298,030321	CFSIZE	260165632,229388288
TT8_MAMPS	0.026078	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
HUMID	1810	SOUNDSPEED	1446.3
INTERNAL_PRESSURE	9.89296	GPS	191108,162640,6642.700,-5950.224,0,4087.8,0,-37.9

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	9	161	33.70	SBE_CT	552	24	294.56
Roll_motor	121	89	242.50	SBE_O2	0	0	0.00
VBD_pump_during_apogee	355	1150	9074.11	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	16	420	151.51
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	0	50	0.00
TT8	1449	19	303.10
LPSleep	8457	2	205.13
TT8_Active	451	19	94.53
TT8_Sampling	1429	39	599.20
TT8_CF8	167	45	80.77
TT8_Kalman	33	81	28.66
Analog_circuits	1236	12	155.78
GPS_charging	0	0	0.00
Compass	1420	8	119.29
RAFOS	1440	1	22.68
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	24	0.00	0.00	-6.53	0.000	2	0.000	0.000	2700	1732	2503
27	-0.99	-146.0	4.6	-0.0	1	63	0.62	1.50	-28.33	0.000	4	0.054	0.090	2451	805	3248
318	-0.72	-146.0	39.1	-12.6	52	324	0.30	2.38	0.00	0.000	6	0.153	0.083	2526	2237	3253
662	-0.72	-146.0	68.9	-7.7	113	668	0.00	2.33	0.00	0.000	4	0.000	0.068	2526	813	3254
708	-0.72	-146.0	72.7	-8.2	121	714	0.00	2.35	0.00	0.000	6	0.000	0.070	2518	2239	3253
1052	-0.72	-146.0	99.4	-6.6	182	1058	0.00	2.25	0.00	0.000	4	0.000	0.084	2508	3609	3253
1065	-0.72	-146.0	100.4	-6.4	184	1069	0.00	2.20	0.00	0.000	6	0.000	0.055	2508	2216	3253
1388	-0.72	-146.0	122.6	-7.0	200	1389	0.00	0.00	0.00	0.000	6	0.000	0.000	2508	2216	3253
1697	-0.72	-146.0	144.0	-7.3	215	1701	0.00	2.25	0.00	0.000	4	0.000	0.068	2507	808	3253
1798	-0.72	-146.0	151.5	-6.8	219	1803	0.10	2.35	0.00	0.000	6	0.143	0.070	2524	2232	3252
2115	-0.82	-146.0	168.9	-5.4	234	2116	0.00	0.00	0.00	0.000	6	0.000	0.000	2524	2232	3253
2424	-0.93	-146.0	187.6	-6.4	249	2428	0.17	2.33	0.00	0.000	4	0.079	0.067	2455	812	3252
2486	-0.75	-146.0	193.4	-9.5	252	2491	0.25	2.38	0.00	0.000	6	0.143	0.084	2517	2239	3252
2813	-0.85	-146.0	214.1	-5.8	268	2815	0.10	0.00	0.00	0.000	6	0.099	0.000	2478	2239	3252
3121	-0.85	-146.0	235.2	-6.5	283	3125	0.00	2.33	0.00	0.000	4	0.000	0.069	2478	814	3252
3133	-0.80	-146.0	236.0	-6.3	283	3138	0.15	2.35	0.00	0.000	6	0.144	0.070	2510	2236	3252
3451	-0.90	-146.0	253.3	-5.6	298	3455	0.10	2.33	0.00	0.000	4	0.097	0.067	2468	820	3251
3472	-0.85	-146.0	254.9	-6.7	299	3477	0.15	2.35	0.00	0.000	6	0.146	0.071	2499	2237	3252
3794	-0.91	-146.0	274.3	-6.1	315	3798	0.00	2.33	0.00	0.000	4	0.000	0.068	2500	816	3251
3826	-0.91	-146.0	276.7	-7.2	316	3830	0.00	2.35	0.00	0.000	6	0.000	0.071	2492	2236	3251
4148	-0.91	-146.0	297.7	-6.3	332	4152	0.00	2.33	0.00	0.000	4	0.000	0.067	2492	813	3251
4209	-0.91	-146.0	301.7	-6.8	334	4215	0.00	2.35	0.00	0.000	6	0.000	0.070	2483	2232	3251
4525	-0.91	-146.0	322.3	-6.4	350	4529	0.00	2.33	0.00	0.000	4	0.000	0.067	2483	810	3251
4541	-0.91	-146.0	323.6	-6.6	350	4547	0.00	2.38	0.00	0.000	6	0.000	0.069	2473	2246	3250
4857	-0.91	-146.0	343.3	-5.9	366	4861	0.00	2.33	0.00	0.000	4	0.000	0.066	2472	822	3251
4930	-0.84	-146.0	347.9	-5.9	369	4935	0.15	2.35	0.00	0.000	6	0.139	0.070	2502	2237	3251
5251	-0.94	-146.0	362.1	-4.5	385	5256	0.10	2.33	0.00	0.000	4	0.096	0.065	2461	814	3251
5302	-0.83	-146.0	365.1	-6.3	387	5307	0.17	2.35	0.00	0.000	6	0.140	0.069	2499	2236	3251
5618	-0.93	-146.0	380.4	-4.9	402	5621	0.00	2.33	0.00	0.000	4	0.000	0.066	2499	810	3251
5664	-0.93	-146.0	382.8	-5.2	404	5668	0.00	2.35	0.00	0.000	6	0.000	0.067	2492	2239	3251
5992	-1.00	-146.0	400.2	-5.3	420	5994	0.10	0.00	0.00	0.000	6	0.089	0.000	2446	2240	3252
6315	-0.90	-146.0	422.2	-6.8	428	6317	0.15	0.00	0.00	0.000	6	0.151	0.000	2487	2239	3252
6641	-0.96	-146.0	439.8	-5.3	436	6645	0.00	2.33	0.00	0.000	4	0.000	0.064	2487	812	3252
6650	end dive: TARGET_DEPTH_EXCEEDED
state	6651	begin apogee
6658	-0.31	0.0	440.4	5.3	436	6785	0.40	0.00	123.90	1.151	6	0.126	0.000	2612	1754	2650
6786	end apogee: CONTROL_FINISHED_OK
state	6786	begin climb
6788	0.99	146.0	442.6	0.0	439	6922	0.88	0.00	129.57	1.071	6	0.097	0.000	2894	1754	2054
7236	0.77	146.0	402.1	9.7	450	7241	0.17	2.40	0.00	0.000	4	0.129	0.071	2846	3162	2047
7275	0.63	146.0	398.6	8.2	451	7280	0.15	2.38	0.00	0.000	6	0.136	0.055	2814	1737	2046
7603	0.79	189.2	379.5	5.6	467	7647	0.12	2.45	36.95	1.062	4	0.074	0.069	2880	326	1877
7680	0.71	189.2	372.9	9.5	470	7685	0.17	2.40	0.00	0.000	6	0.126	0.059	2830	1748	1876
7997	0.79	189.7	350.9	7.0	485	8001	0.08	2.30	0.00	0.000	4	0.094	0.071	2869	3155	1872
8063	0.59	189.7	343.6	12.0	488	8068	0.25	2.28	0.00	0.000	6	0.131	0.054	2806	1737	1870
8384	1.00	189.7	319.2	8.4	504	8389	0.25	2.35	0.00	0.000	4	0.071	0.071	2907	3158	1870
8492	0.65	189.7	305.9	13.8	509	8497	0.32	2.28	0.00	0.000	6	0.140	0.054	2822	1733	1870
8819	0.81	195.7	280.5	6.8	525	8829	0.12	2.28	5.43	0.819	4	0.073	0.069	2890	333	1852
8875	0.73	195.7	275.5	9.5	527	8882	0.20	2.30	0.00	0.000	6	0.125	0.058	2830	1748	1853
9191	0.94	255.1	257.6	5.1	543	9250	0.17	2.33	52.50	1.022	4	0.068	0.071	2903	3150	1610
9303	0.69	255.1	246.6	12.3	547	9307	0.30	2.30	0.00	0.000	6	0.133	0.054	2826	1733	1605
9629	1.38	255.1	221.8	9.1	563	9634	0.45	2.30	0.00	0.000	4	0.089	0.067	2983	329	1599
9674	1.25	255.1	217.1	10.6	565	9679	0.15	2.33	0.00	0.000	6	0.161	0.060	2946	1742	1599
9995	1.02	255.1	178.1	11.8	581	9996	0.17	0.00	0.00	0.000	6	0.140	0.000	2893	1742	1599
10303	1.02	255.1	150.6	9.4	596	10307	0.00	2.30	0.00	0.000	4	0.000	0.075	2893	3155	1598
10337	0.91	255.1	147.1	10.4	597	10342	0.10	2.28	0.00	0.000	6	0.144	0.056	2874	1730	1597
10655	1.01	255.1	123.2	7.1	612	10659	0.10	2.30	0.00	0.000	4	0.087	0.071	2930	320	1597
10704	0.94	255.1	118.1	10.4	614	10709	0.17	2.33	0.00	0.000	6	0.132	0.061	2879	1743	1596
11030	1.06	264.0	93.4	6.7	641	11043	0.12	2.30	6.93	0.844	4	0.078	0.074	2934	3164	1573
11095	0.79	264.0	86.8	11.1	652	11102	0.32	2.30	0.00	0.000	6	0.137	0.058	2847	1729	1573
11440	1.44	264.0	62.7	8.4	713	11447	0.43	2.30	0.00	0.000	4	0.101	0.071	2993	320	1570
11483	1.57	264.0	58.6	9.9	720	11489	0.10	2.33	0.00	0.000	6	0.095	0.062	3032	1742	1570
11828	1.15	264.0	8.2	15.0	781	11834	0.32	2.30	0.00	0.000	4	0.152	0.076	2932	3151	1570
11839	end climb: FINISH_DEPTH_REACHED
state	11840	begin subsurface finish
11849	0.10	79.8	6.2	-14.2	783	11884	0.75	2.42	-26.42	0.000	4	0.127	0.087	2690	3158	2329
11885	end subsurface finish: CONTROL_FINISHED_OK
state	11885	begin surface