Glider dive log

DavisStrait Sep08 * SG108 * Dive index * Mission links * Dive 664 * 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 15 ROLL_MIN 294 ALTIM_TOP_MIN_OBSTACLE 1.8

DIVE 664 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 33 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 500 CALL_NDIVES 1 R_STBD_OVSHOOT 32 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 -3 T_GPS 3 PITCH_VBD_SHIFT 0.0012300001 SMARTDEVICE1 -1

USE_ICE 1 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 -130727.58 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 60 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 0 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 2 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 15 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 60 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 -130727.58

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 2 ROLL_MIN 294 USE_BATHY -3

C_ROLL_CLIMB 1740 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 1

C_ROLL_DIVE 2230 MASS 51779 R_PORT_OVSHOOT 33 VBD_BLEED_AD_RATE 8

C_VBD 2650 MAX_BUOY 150 R_STBD_OVSHOOT 32 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 0 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 664 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 110838,6548.328,-5806.021,9,1.7,9,-36.2 TGT_NAME TARGET_E_IN

_CALLS 1 TGT_LATLONG 6703.000,-5648.000

_XMS_NAKs 0 TGT_RADIUS 10000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.75 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo 10.0 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 110838,6548.328,-5806.021,9,1.7,9,-36.2 MHEAD_RNG_PITCHd_Wd 58.4,149331,-13.0,-7.021

SPEED_LIMITS 0.122,0.233 D_GRID 524

Post-dive calculations and measurements:

FREEZE 1.33,-1.505,-1.794 TCM_TEMP 15.70

FINISH 1.3,1.026342 XPDR_PINGS 120

SM_CCo 13326,0.00,0.000,0,0,1468,289.94 _24V_AH 22.2,100.929

SM_GC 2.68,7.15,0.00,0.00,0.058,0.000,0.000,324,2242,1468,-10.70,0.37,289.94 _10V_AH 10.4,44.732

RAFOS_CLK 550 DATA_FILE_SIZE 25295,779

RAFOS 0,1231776255,16.083334,16.070833,57,56,55,53,51,50,187,201,119,173,147,223 CAP_FILE_SIZE 108657,0

RAFOS_FIX 6617.756348,-5909.147949,080109,000040,2,99,0.64 CFSIZE 260165632,211296256

IRIDIUM_FIX 6522.33,-5754.67,080498,060651 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TT8_MAMPS 0.026845 SOUNDSPEED 1460.2

HUMID 1800 GPS 120109,110838,6548.328,-5806.021,9,1.7,9,-36.2

INTERNAL_PRESSURE 9.89296

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 19 191 84.29 SBE_CT 541 24 288.45

Roll_motor 99 66 147.18 SBE_O2 0 0 0.00

VBD_pump_during_apogee 376 1105 9231.24 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 30 420 279.72

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 0 50 0.00

TT8 1438 19 297.92

LPSleep 9746 2 234.15

TT8_Active 501 19 103.95

TT8_Sampling 1416 39 588.28

TT8_CF8 284 45 135.88

TT8_Kalman 0 0 0.00

Analog_circuits 1274 12 159.00

GPS_charging 0 0 0.00

Compass 1413 8 117.59

RAFOS 1800 1 28.08

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

11 end surface: CONTROL_FINISHED_OK

state 12 begin dive

17 -0.99 -146.0 0.0 0.0 0 101 0.00 0.00 -79.90 0.000 6 0.000 0.000 3029 1728 3248

106 -0.99 -146.0 2.3 -1.0 15 113 1.75 1.48 0.00 0.000 4 0.126 0.054 2466 815 3248

127 -2.26 -146.0 4.4 -6.9 18 134 0.75 2.25 0.00 0.000 6 0.051 0.051 2171 2232 3248

475 -1.20 -146.0 87.4 -22.9 79 482 0.88 2.30 0.00 0.000 4 0.192 0.052 2421 810 3249

530 -0.90 -146.0 95.2 -11.9 88 537 0.25 2.28 0.00 0.000 6 0.137 0.053 2486 2238 3248

863 -0.90 -146.0 120.2 -7.8 112 867 0.00 2.17 0.00 0.000 4 0.000 0.067 2477 3594 3247

970 -0.90 -146.0 128.5 -7.5 116 977 0.00 2.12 0.00 0.000 6 0.000 0.042 2477 2218 3246

1288 -0.90 -146.0 149.8 -6.2 132 1292 0.00 2.17 0.00 0.000 4 0.000 0.054 2477 827 3245

1373 -0.81 -146.0 155.8 -7.1 135 1380 0.15 2.28 0.00 0.000 6 0.126 0.054 2510 2234 3245

1691 -0.90 -146.0 174.4 -6.6 151 1693 0.10 0.00 0.00 0.000 6 0.082 0.000 2462 2234 3245

2001 -0.80 -146.0 199.1 -7.5 166 2003 0.17 0.00 0.00 0.000 6 0.137 0.000 2511 2234 3245

2309 -0.91 -146.0 215.3 -5.2 181 2311 0.12 0.00 0.00 0.000 6 0.077 0.000 2454 2234 3245

2618 -0.81 -146.0 238.9 -7.3 196 2623 0.17 2.28 0.00 0.000 4 0.138 0.051 2510 821 3245

2670 -0.89 -146.0 242.1 -6.1 198 2674 0.00 2.30 0.00 0.000 6 0.000 0.053 2503 2233 3245

2994 -0.98 -146.0 256.7 -3.8 214 2995 0.12 0.00 0.00 0.000 6 0.071 0.000 2440 2233 3245

3303 -0.85 -146.0 272.9 -5.5 229 3308 0.20 2.28 0.00 0.000 4 0.136 0.051 2510 818 3244

3355 -0.93 -146.0 275.3 -4.3 231 3360 0.10 2.30 0.00 0.000 6 0.077 0.051 2454 2241 3245

3674 -0.86 -146.0 295.8 -7.0 246 3678 0.15 2.20 0.00 0.000 4 0.138 0.063 2487 3602 3245

3725 -0.95 -146.0 299.4 -6.6 248 3729 0.00 2.12 0.00 0.000 6 0.000 0.040 2487 2218 3245

4054 -1.01 -146.0 318.6 -5.5 264 4059 0.10 2.17 0.00 0.000 4 0.082 0.050 2437 827 3246

4151 -0.82 -146.0 325.7 -6.9 268 4156 0.25 2.30 0.00 0.000 6 0.126 0.051 2501 2240 3246

4470 -0.93 -146.0 342.2 -4.9 283 4471 0.10 0.00 0.00 0.000 6 0.082 0.000 2452 2240 3247

4778 -0.85 -146.0 361.6 -6.3 298 4780 0.15 0.00 0.00 0.000 6 0.137 0.000 2494 2240 3248

5088 -0.93 -146.0 376.9 -4.7 313 5089 0.00 0.00 0.00 0.000 6 0.000 0.000 2494 2240 3249

5398 -1.02 -146.0 391.6 -4.7 328 5403 0.15 2.28 0.00 0.000 4 0.071 0.050 2428 817 3248

5484 -0.82 -146.0 397.6 -7.4 332 5489 0.28 2.30 0.00 0.000 6 0.128 0.050 2500 2239 3249

5835 -0.93 -146.0 415.6 -5.3 342 5837 0.10 0.00 0.00 0.000 6 0.082 0.000 2452 2239 3249

6159 -0.86 -146.0 438.0 -7.0 350 6163 0.15 2.20 0.00 0.000 4 0.138 0.061 2485 3597 3249

6210 -0.94 -146.0 441.4 -6.1 351 6214 0.00 2.10 0.00 0.000 6 0.000 0.038 2485 2219 3249

6537 -1.00 -146.0 459.4 -5.4 359 6539 0.10 0.00 0.00 0.000 6 0.081 0.000 2435 2218 3249

6861 -0.86 -146.0 480.8 -6.8 367 6866 0.20 2.17 0.00 0.000 4 0.141 0.049 2500 828 3249

6970 -0.95 -146.0 486.2 -5.8 369 6974 0.00 2.28 0.00 0.000 6 0.000 0.050 2492 2242 3250

7320 -1.04 -146.0 503.6 -4.9 378 7322 0.12 0.00 0.00 0.000 6 0.071 0.000 2432 2242 3249

7640 end dive: TARGET_DEPTH_EXCEEDED

state 7640 begin apogee

7650 -0.31 0.0 525.0 6.8 386 7779 0.57 0.00 125.88 1.105 6 0.123 0.000 2614 1738 2650

7779 end apogee: CONTROL_FINISHED_OK

state 7779 begin climb

7784 0.99 146.0 526.1 0.0 389 7917 0.85 0.00 129.48 1.042 6 0.086 0.000 2899 1739 2054

8233 0.78 146.0 480.1 11.0 400 8235 0.17 0.00 0.00 0.000 6 0.122 0.000 2847 1739 2048

8557 0.78 146.0 455.2 7.9 408 8561 0.00 2.33 0.00 0.000 4 0.000 0.058 2847 3162 2047

8605 0.65 146.0 451.0 9.5 409 8610 0.12 2.22 0.00 0.000 6 0.130 0.044 2819 1736 2045

8931 0.78 167.1 429.7 6.3 417 8955 0.10 2.38 17.55 1.006 4 0.076 0.057 2872 3152 1968

8980 0.58 167.1 425.5 9.1 418 8985 0.28 2.22 0.00 0.000 6 0.124 0.042 2800 1734 1967

9300 0.85 221.5 407.6 5.3 426 9351 0.20 0.00 47.70 1.036 6 0.054 0.000 2895 1734 1747

9650 0.69 221.5 371.5 11.0 440 9654 0.20 2.33 0.00 0.000 4 0.123 0.058 2829 3157 1739

9669 0.59 221.5 369.5 10.5 441 9674 0.12 2.20 0.00 0.000 6 0.121 0.042 2798 1733 1737

10002 1.27 221.5 348.2 8.3 457 10007 0.45 2.33 0.00 0.000 4 0.087 0.055 2952 3157 1736

10015 1.84 221.5 347.0 8.7 457 10022 0.35 2.22 0.00 0.000 6 0.053 0.042 3100 1725 1736

10333 1.01 221.5 258.7 30.1 473 10338 0.68 2.22 0.00 0.000 4 0.166 0.054 2911 333 1736

10429 0.90 221.5 243.1 12.1 477 10434 0.15 2.25 0.00 0.000 6 0.125 0.044 2868 1743 1736

10748 0.90 221.5 212.4 9.8 492 10752 0.00 2.25 0.00 0.000 4 0.000 0.056 2868 3152 1735

10818 0.79 221.5 204.3 12.1 495 10822 0.10 2.20 0.00 0.000 6 0.130 0.042 2847 1732 1734

11152 0.87 221.5 177.0 7.6 511 11154 0.10 0.00 0.00 0.000 6 0.077 0.000 2901 1732 1734

11460 0.76 221.5 141.7 11.6 526 11465 0.20 2.25 0.00 0.000 4 0.117 0.054 2842 327 1735

11489 0.88 221.5 139.0 9.1 527 11494 0.10 2.25 0.00 0.000 6 0.076 0.043 2902 1747 1735

11812 0.79 221.5 107.1 9.4 543 11816 0.17 2.22 0.00 0.000 4 0.118 0.054 2848 3145 1736

11846 0.85 221.5 104.1 7.6 544 11852 0.00 2.20 0.00 0.000 6 0.000 0.041 2854 1728 1735

12187 1.12 286.5 84.0 4.9 596 12251 0.20 2.28 55.62 0.822 4 0.057 0.055 2968 334 1481

12276 0.97 286.5 76.4 9.2 611 12284 0.28 2.25 0.00 0.000 6 0.119 0.042 2885 1751 1480

12625 1.14 286.5 54.8 7.3 672 12632 0.15 2.22 0.00 0.000 4 0.061 0.056 2960 3151 1473

12669 1.01 286.5 49.7 11.9 679 12676 0.25 2.20 0.00 0.000 6 0.124 0.043 2895 1737 1473

13017 1.15 286.5 21.3 7.4 740 13024 0.12 2.25 0.00 0.000 4 0.067 0.057 2969 330 1471

13043 1.21 286.5 18.7 8.3 744 13050 0.10 2.22 0.00 0.000 6 0.135 0.045 2942 1746 1471

13208 end climb: SURFACE_DEPTH_REACHED

state 13208 begin surface coast

13243 end surface coast: CONTROL_FINISHED_OK

state 13243 begin surface

ID	108	HEADING	-1	PITCH_ADJ_DBAND	1	ALTIM_TOP_TURN_MARGIN	5
MISSION	11	ESCAPE_HEADING	15	ROLL_MIN	294	ALTIM_TOP_MIN_OBSTACLE	1.8
DIVE	664	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	33	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	500	CALL_NDIVES	1	R_STBD_OVSHOOT	32	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	-3	T_GPS	3	PITCH_VBD_SHIFT	0.0012300001	SMARTDEVICE1	-1
USE_ICE	1	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	-130727.58	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	60	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	0	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	2	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	110838,6548.328,-5806.021,9,1.7,9,-36.2	TGT_NAME	TARGET_E_IN
_CALLS	1	TGT_LATLONG	6703.000,-5648.000
_XMS_NAKs	0	TGT_RADIUS	10000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.75	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	10.0	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	110838,6548.328,-5806.021,9,1.7,9,-36.2	MHEAD_RNG_PITCHd_Wd	58.4,149331,-13.0,-7.021
SPEED_LIMITS	0.122,0.233	D_GRID	524

FREEZE	1.33,-1.505,-1.794	TCM_TEMP	15.70
FINISH	1.3,1.026342	XPDR_PINGS	120
SM_CCo	13326,0.00,0.000,0,0,1468,289.94	_24V_AH	22.2,100.929
SM_GC	2.68,7.15,0.00,0.00,0.058,0.000,0.000,324,2242,1468,-10.70,0.37,289.94	_10V_AH	10.4,44.732
RAFOS_CLK	550	DATA_FILE_SIZE	25295,779
RAFOS	0,1231776255,16.083334,16.070833,57,56,55,53,51,50,187,201,119,173,147,223	CAP_FILE_SIZE	108657,0
RAFOS_FIX	6617.756348,-5909.147949,080109,000040,2,99,0.64	CFSIZE	260165632,211296256
IRIDIUM_FIX	6522.33,-5754.67,080498,060651	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TT8_MAMPS	0.026845	SOUNDSPEED	1460.2
HUMID	1800	GPS	120109,110838,6548.328,-5806.021,9,1.7,9,-36.2
INTERNAL_PRESSURE	9.89296

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	19	191	84.29	SBE_CT	541	24	288.45
Roll_motor	99	66	147.18	SBE_O2	0	0	0.00
VBD_pump_during_apogee	376	1105	9231.24	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	30	420	279.72
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	0	50	0.00
TT8	1438	19	297.92
LPSleep	9746	2	234.15
TT8_Active	501	19	103.95
TT8_Sampling	1416	39	588.28
TT8_CF8	284	45	135.88
TT8_Kalman	0	0	0.00
Analog_circuits	1274	12	159.00
GPS_charging	0	0	0.00
Compass	1413	8	117.59
RAFOS	1800	1	28.08
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
11	end surface: CONTROL_FINISHED_OK
state	12	begin dive
17	-0.99	-146.0	0.0	0.0	0	101	0.00	0.00	-79.90	0.000	6	0.000	0.000	3029	1728	3248
106	-0.99	-146.0	2.3	-1.0	15	113	1.75	1.48	0.00	0.000	4	0.126	0.054	2466	815	3248
127	-2.26	-146.0	4.4	-6.9	18	134	0.75	2.25	0.00	0.000	6	0.051	0.051	2171	2232	3248
475	-1.20	-146.0	87.4	-22.9	79	482	0.88	2.30	0.00	0.000	4	0.192	0.052	2421	810	3249
530	-0.90	-146.0	95.2	-11.9	88	537	0.25	2.28	0.00	0.000	6	0.137	0.053	2486	2238	3248
863	-0.90	-146.0	120.2	-7.8	112	867	0.00	2.17	0.00	0.000	4	0.000	0.067	2477	3594	3247
970	-0.90	-146.0	128.5	-7.5	116	977	0.00	2.12	0.00	0.000	6	0.000	0.042	2477	2218	3246
1288	-0.90	-146.0	149.8	-6.2	132	1292	0.00	2.17	0.00	0.000	4	0.000	0.054	2477	827	3245
1373	-0.81	-146.0	155.8	-7.1	135	1380	0.15	2.28	0.00	0.000	6	0.126	0.054	2510	2234	3245
1691	-0.90	-146.0	174.4	-6.6	151	1693	0.10	0.00	0.00	0.000	6	0.082	0.000	2462	2234	3245
2001	-0.80	-146.0	199.1	-7.5	166	2003	0.17	0.00	0.00	0.000	6	0.137	0.000	2511	2234	3245
2309	-0.91	-146.0	215.3	-5.2	181	2311	0.12	0.00	0.00	0.000	6	0.077	0.000	2454	2234	3245
2618	-0.81	-146.0	238.9	-7.3	196	2623	0.17	2.28	0.00	0.000	4	0.138	0.051	2510	821	3245
2670	-0.89	-146.0	242.1	-6.1	198	2674	0.00	2.30	0.00	0.000	6	0.000	0.053	2503	2233	3245
2994	-0.98	-146.0	256.7	-3.8	214	2995	0.12	0.00	0.00	0.000	6	0.071	0.000	2440	2233	3245
3303	-0.85	-146.0	272.9	-5.5	229	3308	0.20	2.28	0.00	0.000	4	0.136	0.051	2510	818	3244
3355	-0.93	-146.0	275.3	-4.3	231	3360	0.10	2.30	0.00	0.000	6	0.077	0.051	2454	2241	3245
3674	-0.86	-146.0	295.8	-7.0	246	3678	0.15	2.20	0.00	0.000	4	0.138	0.063	2487	3602	3245
3725	-0.95	-146.0	299.4	-6.6	248	3729	0.00	2.12	0.00	0.000	6	0.000	0.040	2487	2218	3245
4054	-1.01	-146.0	318.6	-5.5	264	4059	0.10	2.17	0.00	0.000	4	0.082	0.050	2437	827	3246
4151	-0.82	-146.0	325.7	-6.9	268	4156	0.25	2.30	0.00	0.000	6	0.126	0.051	2501	2240	3246
4470	-0.93	-146.0	342.2	-4.9	283	4471	0.10	0.00	0.00	0.000	6	0.082	0.000	2452	2240	3247
4778	-0.85	-146.0	361.6	-6.3	298	4780	0.15	0.00	0.00	0.000	6	0.137	0.000	2494	2240	3248
5088	-0.93	-146.0	376.9	-4.7	313	5089	0.00	0.00	0.00	0.000	6	0.000	0.000	2494	2240	3249
5398	-1.02	-146.0	391.6	-4.7	328	5403	0.15	2.28	0.00	0.000	4	0.071	0.050	2428	817	3248
5484	-0.82	-146.0	397.6	-7.4	332	5489	0.28	2.30	0.00	0.000	6	0.128	0.050	2500	2239	3249
5835	-0.93	-146.0	415.6	-5.3	342	5837	0.10	0.00	0.00	0.000	6	0.082	0.000	2452	2239	3249
6159	-0.86	-146.0	438.0	-7.0	350	6163	0.15	2.20	0.00	0.000	4	0.138	0.061	2485	3597	3249
6210	-0.94	-146.0	441.4	-6.1	351	6214	0.00	2.10	0.00	0.000	6	0.000	0.038	2485	2219	3249
6537	-1.00	-146.0	459.4	-5.4	359	6539	0.10	0.00	0.00	0.000	6	0.081	0.000	2435	2218	3249
6861	-0.86	-146.0	480.8	-6.8	367	6866	0.20	2.17	0.00	0.000	4	0.141	0.049	2500	828	3249
6970	-0.95	-146.0	486.2	-5.8	369	6974	0.00	2.28	0.00	0.000	6	0.000	0.050	2492	2242	3250
7320	-1.04	-146.0	503.6	-4.9	378	7322	0.12	0.00	0.00	0.000	6	0.071	0.000	2432	2242	3249
7640	end dive: TARGET_DEPTH_EXCEEDED
state	7640	begin apogee
7650	-0.31	0.0	525.0	6.8	386	7779	0.57	0.00	125.88	1.105	6	0.123	0.000	2614	1738	2650
7779	end apogee: CONTROL_FINISHED_OK
state	7779	begin climb
7784	0.99	146.0	526.1	0.0	389	7917	0.85	0.00	129.48	1.042	6	0.086	0.000	2899	1739	2054
8233	0.78	146.0	480.1	11.0	400	8235	0.17	0.00	0.00	0.000	6	0.122	0.000	2847	1739	2048
8557	0.78	146.0	455.2	7.9	408	8561	0.00	2.33	0.00	0.000	4	0.000	0.058	2847	3162	2047
8605	0.65	146.0	451.0	9.5	409	8610	0.12	2.22	0.00	0.000	6	0.130	0.044	2819	1736	2045
8931	0.78	167.1	429.7	6.3	417	8955	0.10	2.38	17.55	1.006	4	0.076	0.057	2872	3152	1968
8980	0.58	167.1	425.5	9.1	418	8985	0.28	2.22	0.00	0.000	6	0.124	0.042	2800	1734	1967
9300	0.85	221.5	407.6	5.3	426	9351	0.20	0.00	47.70	1.036	6	0.054	0.000	2895	1734	1747
9650	0.69	221.5	371.5	11.0	440	9654	0.20	2.33	0.00	0.000	4	0.123	0.058	2829	3157	1739
9669	0.59	221.5	369.5	10.5	441	9674	0.12	2.20	0.00	0.000	6	0.121	0.042	2798	1733	1737
10002	1.27	221.5	348.2	8.3	457	10007	0.45	2.33	0.00	0.000	4	0.087	0.055	2952	3157	1736
10015	1.84	221.5	347.0	8.7	457	10022	0.35	2.22	0.00	0.000	6	0.053	0.042	3100	1725	1736
10333	1.01	221.5	258.7	30.1	473	10338	0.68	2.22	0.00	0.000	4	0.166	0.054	2911	333	1736
10429	0.90	221.5	243.1	12.1	477	10434	0.15	2.25	0.00	0.000	6	0.125	0.044	2868	1743	1736
10748	0.90	221.5	212.4	9.8	492	10752	0.00	2.25	0.00	0.000	4	0.000	0.056	2868	3152	1735
10818	0.79	221.5	204.3	12.1	495	10822	0.10	2.20	0.00	0.000	6	0.130	0.042	2847	1732	1734
11152	0.87	221.5	177.0	7.6	511	11154	0.10	0.00	0.00	0.000	6	0.077	0.000	2901	1732	1734
11460	0.76	221.5	141.7	11.6	526	11465	0.20	2.25	0.00	0.000	4	0.117	0.054	2842	327	1735
11489	0.88	221.5	139.0	9.1	527	11494	0.10	2.25	0.00	0.000	6	0.076	0.043	2902	1747	1735
11812	0.79	221.5	107.1	9.4	543	11816	0.17	2.22	0.00	0.000	4	0.118	0.054	2848	3145	1736
11846	0.85	221.5	104.1	7.6	544	11852	0.00	2.20	0.00	0.000	6	0.000	0.041	2854	1728	1735
12187	1.12	286.5	84.0	4.9	596	12251	0.20	2.28	55.62	0.822	4	0.057	0.055	2968	334	1481
12276	0.97	286.5	76.4	9.2	611	12284	0.28	2.25	0.00	0.000	6	0.119	0.042	2885	1751	1480
12625	1.14	286.5	54.8	7.3	672	12632	0.15	2.22	0.00	0.000	4	0.061	0.056	2960	3151	1473
12669	1.01	286.5	49.7	11.9	679	12676	0.25	2.20	0.00	0.000	6	0.124	0.043	2895	1737	1473
13017	1.15	286.5	21.3	7.4	740	13024	0.12	2.25	0.00	0.000	4	0.067	0.057	2969	330	1471
13043	1.21	286.5	18.7	8.3	744	13050	0.10	2.22	0.00	0.000	6	0.135	0.045	2942	1746	1471
13208	end climb: SURFACE_DEPTH_REACHED
state	13208	begin surface coast
13243	end surface coast: CONTROL_FINISHED_OK
state	13243	begin surface