Glider dive log

DavisStrait Sep08 * SG113 * Dive index * Mission links * Dive 121 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 113 HEADING -1 PITCH_ADJ_DBAND 1 ALTIM_TOP_TURN_MARGIN 0

MISSION 4 ESCAPE_HEADING 0 ROLL_MIN 280 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 121 ESCAPE_HEADING_DELTA 10 ROLL_MAX 3944 ALTIM_PING_DEPTH 0

D_SURF 2 FIX_MISSING_TIMEOUT 0 ROLL_DEG 40 ALTIM_PING_DELTA 0

D_FLARE 3 TGT_DEFAULT_LAT 21 C_ROLL_DIVE 2340 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LON -158.3 C_ROLL_CLIMB 2520 ALTIM_PULSE 3

D_ABORT 1090 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 3

D_NO_BLEED 50 SM_CC 275 ROLL_CNV 0.028270001 XPDR_VALID 4

D_FINISH 0 N_FILEKB 4 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

D_PITCH 0 FILEMGR 0 R_PORT_OVSHOOT 29 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 23 INT_PRESSURE_YINT 0

D_CALL 0 COMM_SEQ 0 ROLL_AD_RATE 350 DEEPGLIDER 0

SURFACE_URGENCY 0 KERMIT 0 ROLL_MAXERRORS 0 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 N_NOCOMM 1 ROLL_ADJ_GAIN 0 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 N_NOSURFACE 0 ROLL_ADJ_DBAND 0 DEVICE1 2

T_DIVE 470 UPLOAD_DIVES_MAX -1 VBD_MIN 144 DEVICE2 20

T_MISSION 500 CALL_TRIES 5 VBD_MAX 3700 DEVICE3 -1

T_ABORT 1440 CALL_WAIT 60 C_VBD 2420 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 15 PITCH_VBD_SHIFT 0.00135 SMARTDEVICE1 -1

USE_ICE 0 N_GPS 20 VBD_PUMP_AD_RATE_SURFACE 4 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.30000001 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_APOGEE 4 COMPASS_DEVICE 33

D_OFFGRID 100 T_GPS_CHARGE -24188.986 VBD_BLEED_AD_RATE 8 COMPASS2_DEVICE -1

T_WATCHDOG 10 T_RSLEEP 2 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 171 AH0_10V 100 SIM_W 0

GLIDE_SLOPE 30 PITCH_MAX 4022 PHONE_SUPPLY 2 SIM_PITCH 0

SPEED_FACTOR 1 C_PITCH 2436 PRESSURE_YINT -25.705193 SEABIRD_T_G 0.004371644

RHO 1.02765 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001160825 SEABIRD_T_H 0.00064727472

MASS 51576 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_T_I 2.6231954e-05

NAV_MODE 1 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_T_J 2.8174416e-06

FERRY_MAX 45 PITCH_GAIN 14.7 TCM_ROLL_OFFSET 0 SEABIRD_C_G -9.9426794

KALMAN_USE 1 PITCH_TIMEOUT 20 COMPASS_USE 0 SEABIRD_C_H 1.1390046

HD_A 0.00342 PITCH_AD_RATE 150 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_I -0.00057758979

HD_B 0.0096000005 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.00012778315

HD_C 3.1312e-05 PITCH_ADJ_GAIN 0.045000002 ALTIM_BOTTOM_TURN_MARGIN 0

AD7714Ch0Gain 128 D_FINISH 0 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 275

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 100 PITCH_GAIN 14.7 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 0 D_PITCH 0 PITCH_MAX 4022 SURFACE_URGENCY 0

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DELTA 0 D_SURF 2 PITCH_MIN 171 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 0 D_TGT 990 PITCH_TIMEOUT 20 TCM_PITCH_OFFSET 0

ALTIM_PULSE 3 ESCAPE_HEADING 0 PITCH_VBD_SHIFT 0.00135 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 3 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.0001160825 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 45 PRESSURE_YINT -25.705193 TGT_DEFAULT_LAT 21

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LON -158.3

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 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 15

CALL_TRIES 5 HD_A 0.00342 RAFOS_PEAK_OFFSET 1.5 T_GPS_ALMANAC 0

CALL_WAIT 60 HD_B 0.0096000005 RELAUNCH 1 T_GPS_CHARGE -24188.986

CAPMAXSIZE 100000 HD_C 3.1312e-05 RHO 1.02765 T_MISSION 500

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_NO_W 120

CF8_MAXERRORS 0 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_RSLEEP 2

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 350 T_TURN 225

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN_SAMPINT 5

COMPASS_DEVICE 33 ID 113 ROLL_DEG 40 T_WATCHDOG 10

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3944 UNCOM_BLEED 20

COURSE_BIAS 0 INT_PRESSURE_YINT 0 ROLL_MAXERRORS 0 UPLOAD_DIVES_MAX -1

C_PITCH 2436 KALMAN_USE 1 ROLL_MIN 280 USE_BATHY -2

C_ROLL_CLIMB 2520 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 2340 MASS 51576 R_PORT_OVSHOOT 29 VBD_BLEED_AD_RATE 8

C_VBD 2420 MAX_BUOY 150 R_STBD_OVSHOOT 23 VBD_CNV -0.24529999

DEEPGLIDER 0 MISSION 4 SEABIRD_C_G -9.9426794 VBD_DBAND 2

DEEPGLIDERMB 0 MOTHERBOARD 4 SEABIRD_C_H 1.1390046 VBD_MAX 3700

DEVICE1 2 NAV_MODE 1 SEABIRD_C_I -0.00057758979 VBD_MAXERRORS 1

DEVICE2 20 N_FILEKB 4 SEABIRD_C_J 0.00012778315 VBD_MIN 144

DEVICE3 -1 N_GPS 20 SEABIRD_T_G 0.004371644 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE4 -1 N_NOCOMM 1 SEABIRD_T_H 0.00064727472 VBD_PUMP_AD_RATE_SURFACE 4

DEVICE5 -1 N_NOSURFACE 0 SEABIRD_T_I 2.6231954e-05 VBD_TIMEOUT 360

DEVICE6 -1 PHONE_DEVICE 48 SEABIRD_T_J 2.8174416e-06 XPDR_DEVICE 24

DIVE 121 PHONE_SUPPLY 2 SIM_PITCH 0 XPDR_INHIBIT 90

D_ABORT 1090 PITCH_ADJ_DBAND 1 SIM_W 0 XPDR_VALID 4

D_CALL 0 PITCH_ADJ_GAIN 0.045000002 SMARTDEVICE1 -1

Pre-dive calculations and measurements:

GPS1 142255,6642.370,-6043.192,38,1.4,38,-38.1 TGT_NAME TARGET_ADD1_EB

_CALLS 1 TGT_LATLONG 6647.000,-5956.000

_XMS_NAKs 0 TGT_RADIUS 10000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.165,0.152

_SM_DEPTHo 1.67 KALMAN_X 18277.4,-319.6,-27.7,-126604.8,389.0

_SM_ANGLEo -66.9 KALMAN_Y -12921.9,275.0,2169.8,-12405.2,-1450.8

GPS2 142751,6642.433,-6043.189,12,1.4,12,-38.1 MHEAD_RNG_PITCHd_Wd 85.3,35475,-12.9,-7.021

SPEED_LIMITS 0.122,0.224 D_GRID 486

Post-dive calculations and measurements:

FINISH 1.4,1.025072 TCM_TEMP 15.30

SM_CCo 12877,0.00,0.000,0,0,1144,313.00 XPDR_PINGS 0

SM_GC 1.69,7.47,0.00,0.00,0.077,0.000,0.000,160,2340,1144,-10.40,-0.03,313.00 _24V_AH 22.1,27.783

RAFOS_CLK 735 _10V_AH 10.6,10.759

RAFOS 0,1222790677,16.083334,16.076944,91,60,55,53,52,50,438,194,155,219,138,120 DATA_FILE_SIZE 31583,839

RAFOS_FIX 6642.990723,-6036.768555,300908,161645,3,95,0.70 CAP_FILE_SIZE 106859,0

IRIDIUM_FIX 6614.97,-6038.24,251297,111153 CFSIZE 260165632,242585600

TT8_MAMPS 0.027612 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

HUMID 1887 SOUNDSPEED 1447.8

INTERNAL_PRESSURE 8.49642 GPS 300908,180456,6643.255,-6040.272,39,1.6,39,-38.1

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 267 121.42 SBE_CT 662 24 351.63

Roll_motor 109 84 205.06 SBE_O2 571 19 239.91

VBD_pump_during_apogee 390 1243 10717.44 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 29 103 67.92 nil 0 0 0.00

Iridium_during_connect 34 160 123.67 nil 0 0 0.00

Iridium_during_xfer 127 223 627.19

Transponder_ping 0 420 0.00

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 13 50 7.33

TT8 1496 19 316.04

LPSleep 9306 2 227.88

TT8_Active 517 19 109.19

TT8_Sampling 1520 39 643.52

TT8_CF8 349 45 170.31

TT8_Kalman 33 81 28.97

Analog_circuits 1354 12 172.33

GPS_charging 0 0 0.00

Compass 1507 8 127.84

RAFOS 1800 1 28.62

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

14 end surface: CONTROL_FINISHED_OK

state 14 begin dive

16 -1.08 -145.9 0.0 0.0 0 121 0.00 0.00 -102.47 0.000 2 0.000 0.000 167 2328 2797

124 -1.08 -146.0 3.5 -3.0 18 149 8.77 2.45 -7.22 0.000 4 0.268 0.084 2192 3739 3018

403 -0.73 -146.0 52.6 -12.9 67 410 0.30 2.25 0.00 0.000 6 0.171 0.044 2274 2325 3023

747 -0.73 -146.0 81.2 -9.0 128 754 0.00 2.40 0.00 0.000 4 0.000 0.073 2274 3757 3023

787 -0.73 -146.0 84.6 -8.7 135 793 0.00 2.22 0.00 0.000 6 0.000 0.043 2274 2341 3024

1117 -0.73 -146.0 112.6 -8.5 175 1121 0.00 2.25 0.00 0.000 4 0.000 0.058 2274 929 3025

1238 -0.73 -146.0 123.1 -8.5 180 1243 0.00 2.30 0.00 0.000 6 0.000 0.053 2274 2343 3024

1560 -0.73 -146.0 144.2 -5.9 196 1564 0.00 2.33 0.00 0.000 4 0.000 0.072 2274 3755 3024

1593 -0.79 -146.0 146.3 -6.1 197 1597 0.00 2.22 0.00 0.000 6 0.000 0.044 2273 2333 3024

1914 -0.79 -146.0 166.9 -7.1 213 1917 0.00 2.35 0.00 0.000 4 0.000 0.074 2274 3743 3024

1959 -0.88 -146.0 170.3 -7.9 215 1963 0.12 2.20 0.00 0.000 6 0.113 0.044 2232 2337 3024

2290 -0.79 -146.0 201.1 -9.3 231 2292 0.12 0.00 0.00 0.000 6 0.169 0.000 2264 2337 3024

2599 -0.79 -146.0 225.5 -8.1 246 2600 0.00 0.00 0.00 0.000 6 0.000 0.000 2264 2337 3024

2909 -0.85 -146.0 250.5 -8.2 261 2913 0.00 2.33 0.00 0.000 4 0.000 0.073 2263 3745 3023

2941 -0.93 -146.0 253.2 -8.0 262 2945 0.12 2.22 0.00 0.000 6 0.108 0.044 2220 2319 3023

3262 -0.85 -146.0 279.8 -7.6 278 3267 0.12 2.38 0.00 0.000 4 0.172 0.073 2248 3745 3023

3306 -0.90 -146.0 282.6 -6.3 280 3310 0.00 2.20 0.00 0.000 6 0.000 0.045 2248 2340 3023

3632 -0.90 -146.0 302.1 -6.0 296 3635 0.00 2.22 0.00 0.000 4 0.000 0.059 2248 934 3022

3670 -0.90 -146.0 304.8 -6.7 297 3676 0.00 2.25 0.00 0.000 6 0.000 0.054 2248 2343 3022

3986 -0.90 -146.0 323.0 -5.5 313 3989 0.00 2.30 0.00 0.000 4 0.000 0.072 2248 3745 3022

4080 -0.97 -146.0 328.2 -5.8 317 4085 0.08 2.20 0.00 0.000 6 0.135 0.044 2219 2331 3022

4407 -0.91 -146.0 349.3 -6.7 333 4410 0.00 2.20 0.00 0.000 4 0.000 0.059 2219 941 3022

4433 -0.82 -146.0 351.3 -8.0 334 4438 0.15 2.25 0.00 0.000 6 0.170 0.054 2258 2350 3022

4760 -0.92 -146.0 370.4 -5.7 350 4762 0.10 0.00 0.00 0.000 6 0.108 0.000 2222 2351 3022

5069 -0.92 -146.0 393.0 -7.9 365 5070 0.00 0.00 0.00 0.000 6 0.000 0.000 2222 2351 3022

5375 -0.92 -146.0 416.3 -7.6 375 5378 0.00 2.30 0.00 0.000 4 0.000 0.071 2222 3756 3022

5480 -0.92 -146.0 425.0 -8.5 377 5484 0.00 2.22 0.00 0.000 6 0.000 0.043 2221 2344 3022

5794 -0.92 -146.0 447.7 -6.9 385 5795 0.00 0.00 0.00 0.000 6 0.000 0.000 2222 2343 3022

6119 -0.92 -146.0 469.1 -6.7 393 6120 0.00 0.00 0.00 0.000 6 0.000 0.000 2222 2343 3022

6400 end dive: TARGET_DEPTH_EXCEEDED

state 6400 begin apogee

6405 -0.34 0.0 487.7 6.5 400 6534 0.47 0.00 125.62 1.243 6 0.154 0.000 2364 2527 2420

6535 end apogee: CONTROL_FINISHED_OK

state 6535 begin climb

6537 1.08 146.0 490.0 0.0 403 6670 1.02 0.00 128.57 1.147 6 0.114 0.000 2666 2526 1824

6984 0.90 146.0 453.0 9.1 414 6989 0.15 2.45 0.00 0.000 4 0.146 0.070 2627 3937 1821

7028 0.75 146.0 449.2 8.4 415 7033 0.12 2.33 0.00 0.000 6 0.153 0.042 2595 2516 1821

7352 0.87 186.3 430.6 5.6 423 7394 0.12 2.40 33.78 1.160 4 0.085 0.057 2642 1126 1659

7421 0.87 186.3 425.4 7.9 424 7426 0.00 2.38 0.00 0.000 6 0.000 0.051 2642 2533 1658

7744 0.83 186.3 397.8 8.7 433 7749 0.12 2.35 0.00 0.000 4 0.152 0.069 2610 3937 1658

7782 0.83 186.3 394.3 8.5 435 7786 0.00 2.28 0.00 0.000 6 0.000 0.041 2610 2508 1657

8108 0.92 186.3 369.6 7.4 451 8113 0.10 2.25 0.00 0.000 4 0.091 0.055 2651 1109 1658

8146 0.92 186.3 366.4 8.4 453 8150 0.00 2.28 0.00 0.000 6 0.000 0.051 2650 2523 1657

8472 0.86 186.3 339.8 7.9 469 8474 0.12 0.00 0.00 0.000 6 0.148 0.000 2615 2523 1657

8782 0.99 233.3 321.7 5.4 484 8823 0.12 0.00 38.47 1.144 6 0.087 0.000 2664 2524 1468

9130 0.99 233.3 293.1 8.6 501 9134 0.00 2.30 0.00 0.000 4 0.000 0.056 2664 1114 1466

9168 0.99 233.3 289.7 8.8 502 9175 0.00 2.30 0.00 0.000 6 0.000 0.049 2664 2520 1465

9484 0.99 233.3 262.4 8.5 518 9488 0.00 2.30 0.00 0.000 4 0.000 0.067 2664 3928 1465

9516 0.88 233.3 259.3 9.4 519 9521 0.15 2.22 0.00 0.000 6 0.147 0.042 2623 2508 1466

9837 1.06 279.4 241.1 5.4 535 9881 0.15 2.38 37.97 1.111 4 0.080 0.057 2680 1118 1279

9909 1.06 279.4 235.5 8.1 538 9913 0.00 2.33 0.00 0.000 6 0.000 0.048 2680 2533 1277

10235 1.06 279.4 207.7 8.5 554 10236 0.00 0.00 0.00 0.000 6 0.000 0.000 2681 2533 1275

10545 1.06 279.4 181.2 8.8 569 10549 0.00 2.30 0.00 0.000 4 0.000 0.058 2680 1111 1275

10594 1.06 279.4 176.8 8.4 571 10598 0.00 2.30 0.00 0.000 6 0.000 0.050 2680 2528 1274

10920 1.06 279.4 149.1 8.4 587 10924 0.00 2.28 0.00 0.000 4 0.000 0.058 2680 1113 1274

10942 1.06 279.4 147.2 8.6 588 10946 0.00 2.22 0.00 0.000 6 0.000 0.051 2681 2520 1274

11274 1.06 279.4 119.0 8.3 604 11275 0.00 0.00 0.00 0.000 6 0.000 0.000 2680 2520 1274

11587 1.11 279.4 95.4 7.8 625 11593 0.00 2.25 0.00 0.000 4 0.000 0.058 2680 1116 1273

11644 1.20 279.4 90.8 8.4 635 11651 0.00 2.25 0.00 0.000 6 0.000 0.051 2680 2532 1273

11988 1.25 279.4 61.2 7.9 696 11995 0.10 2.30 0.00 0.000 4 0.090 0.072 2721 3931 1272

12006 1.25 279.4 59.6 8.3 699 12013 0.00 2.22 0.00 0.000 6 0.000 0.045 2721 2510 1272

12350 1.25 279.4 29.5 8.3 760 12356 0.00 2.38 0.00 0.000 4 0.000 0.074 2721 3936 1272

12390 1.13 279.4 25.7 9.6 767 12397 0.15 2.22 0.00 0.000 6 0.150 0.045 2679 2513 1272

12735 1.48 311.4 6.4 5.9 828 12766 0.22 2.35 25.62 1.032 4 0.077 0.058 2770 1111 1150

12793 end climb: SURFACE_DEPTH_REACHED

state 12793 begin surface coast

12800 end surface coast: CONTROL_FINISHED_OK

state 12800 begin surface

ID	113	HEADING	-1	PITCH_ADJ_DBAND	1	ALTIM_TOP_TURN_MARGIN	0
MISSION	4	ESCAPE_HEADING	0	ROLL_MIN	280	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	121	ESCAPE_HEADING_DELTA	10	ROLL_MAX	3944	ALTIM_PING_DEPTH	0
D_SURF	2	FIX_MISSING_TIMEOUT	0	ROLL_DEG	40	ALTIM_PING_DELTA	0
D_FLARE	3	TGT_DEFAULT_LAT	21	C_ROLL_DIVE	2340	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LON	-158.3	C_ROLL_CLIMB	2520	ALTIM_PULSE	3
D_ABORT	1090	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	3
D_NO_BLEED	50	SM_CC	275	ROLL_CNV	0.028270001	XPDR_VALID	4
D_FINISH	0	N_FILEKB	4	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
D_PITCH	0	FILEMGR	0	R_PORT_OVSHOOT	29	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	23	INT_PRESSURE_YINT	0
D_CALL	0	COMM_SEQ	0	ROLL_AD_RATE	350	DEEPGLIDER	0
SURFACE_URGENCY	0	KERMIT	0	ROLL_MAXERRORS	0	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	N_NOCOMM	1	ROLL_ADJ_GAIN	0	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	N_NOSURFACE	0	ROLL_ADJ_DBAND	0	DEVICE1	2
T_DIVE	470	UPLOAD_DIVES_MAX	-1	VBD_MIN	144	DEVICE2	20
T_MISSION	500	CALL_TRIES	5	VBD_MAX	3700	DEVICE3	-1
T_ABORT	1440	CALL_WAIT	60	C_VBD	2420	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	15	PITCH_VBD_SHIFT	0.00135	SMARTDEVICE1	-1
USE_ICE	0	N_GPS	20	VBD_PUMP_AD_RATE_SURFACE	4	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.30000001	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_APOGEE	4	COMPASS_DEVICE	33
D_OFFGRID	100	T_GPS_CHARGE	-24188.986	VBD_BLEED_AD_RATE	8	COMPASS2_DEVICE	-1
T_WATCHDOG	10	T_RSLEEP	2	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	171	AH0_10V	100	SIM_W	0
GLIDE_SLOPE	30	PITCH_MAX	4022	PHONE_SUPPLY	2	SIM_PITCH	0
SPEED_FACTOR	1	C_PITCH	2436	PRESSURE_YINT	-25.705193	SEABIRD_T_G	0.004371644
RHO	1.02765	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001160825	SEABIRD_T_H	0.00064727472
MASS	51576	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_T_I	2.6231954e-05
NAV_MODE	1	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_T_J	2.8174416e-06
FERRY_MAX	45	PITCH_GAIN	14.7	TCM_ROLL_OFFSET	0	SEABIRD_C_G	-9.9426794
KALMAN_USE	1	PITCH_TIMEOUT	20	COMPASS_USE	0	SEABIRD_C_H	1.1390046
HD_A	0.00342	PITCH_AD_RATE	150	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_I	-0.00057758979
HD_B	0.0096000005	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.00012778315
HD_C	3.1312e-05	PITCH_ADJ_GAIN	0.045000002	ALTIM_BOTTOM_TURN_MARGIN	0

GPS1	142255,6642.370,-6043.192,38,1.4,38,-38.1	TGT_NAME	TARGET_ADD1_EB
_CALLS	1	TGT_LATLONG	6647.000,-5956.000
_XMS_NAKs	0	TGT_RADIUS	10000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.165,0.152
_SM_DEPTHo	1.67	KALMAN_X	18277.4,-319.6,-27.7,-126604.8,389.0
_SM_ANGLEo	-66.9	KALMAN_Y	-12921.9,275.0,2169.8,-12405.2,-1450.8
GPS2	142751,6642.433,-6043.189,12,1.4,12,-38.1	MHEAD_RNG_PITCHd_Wd	85.3,35475,-12.9,-7.021
SPEED_LIMITS	0.122,0.224	D_GRID	486

FINISH	1.4,1.025072	TCM_TEMP	15.30
SM_CCo	12877,0.00,0.000,0,0,1144,313.00	XPDR_PINGS	0
SM_GC	1.69,7.47,0.00,0.00,0.077,0.000,0.000,160,2340,1144,-10.40,-0.03,313.00	_24V_AH	22.1,27.783
RAFOS_CLK	735	_10V_AH	10.6,10.759
RAFOS	0,1222790677,16.083334,16.076944,91,60,55,53,52,50,438,194,155,219,138,120	DATA_FILE_SIZE	31583,839
RAFOS_FIX	6642.990723,-6036.768555,300908,161645,3,95,0.70	CAP_FILE_SIZE	106859,0
IRIDIUM_FIX	6614.97,-6038.24,251297,111153	CFSIZE	260165632,242585600
TT8_MAMPS	0.027612	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
HUMID	1887	SOUNDSPEED	1447.8
INTERNAL_PRESSURE	8.49642	GPS	300908,180456,6643.255,-6040.272,39,1.6,39,-38.1

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	267	121.42	SBE_CT	662	24	351.63
Roll_motor	109	84	205.06	SBE_O2	571	19	239.91
VBD_pump_during_apogee	390	1243	10717.44	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	29	103	67.92	nil	0	0	0.00
Iridium_during_connect	34	160	123.67	nil	0	0	0.00
Iridium_during_xfer	127	223	627.19
Transponder_ping	0	420	0.00
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	13	50	7.33
TT8	1496	19	316.04
LPSleep	9306	2	227.88
TT8_Active	517	19	109.19
TT8_Sampling	1520	39	643.52
TT8_CF8	349	45	170.31
TT8_Kalman	33	81	28.97
Analog_circuits	1354	12	172.33
GPS_charging	0	0	0.00
Compass	1507	8	127.84
RAFOS	1800	1	28.62
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
14	end surface: CONTROL_FINISHED_OK
state	14	begin dive
16	-1.08	-145.9	0.0	0.0	0	121	0.00	0.00	-102.47	0.000	2	0.000	0.000	167	2328	2797
124	-1.08	-146.0	3.5	-3.0	18	149	8.77	2.45	-7.22	0.000	4	0.268	0.084	2192	3739	3018
403	-0.73	-146.0	52.6	-12.9	67	410	0.30	2.25	0.00	0.000	6	0.171	0.044	2274	2325	3023
747	-0.73	-146.0	81.2	-9.0	128	754	0.00	2.40	0.00	0.000	4	0.000	0.073	2274	3757	3023
787	-0.73	-146.0	84.6	-8.7	135	793	0.00	2.22	0.00	0.000	6	0.000	0.043	2274	2341	3024
1117	-0.73	-146.0	112.6	-8.5	175	1121	0.00	2.25	0.00	0.000	4	0.000	0.058	2274	929	3025
1238	-0.73	-146.0	123.1	-8.5	180	1243	0.00	2.30	0.00	0.000	6	0.000	0.053	2274	2343	3024
1560	-0.73	-146.0	144.2	-5.9	196	1564	0.00	2.33	0.00	0.000	4	0.000	0.072	2274	3755	3024
1593	-0.79	-146.0	146.3	-6.1	197	1597	0.00	2.22	0.00	0.000	6	0.000	0.044	2273	2333	3024
1914	-0.79	-146.0	166.9	-7.1	213	1917	0.00	2.35	0.00	0.000	4	0.000	0.074	2274	3743	3024
1959	-0.88	-146.0	170.3	-7.9	215	1963	0.12	2.20	0.00	0.000	6	0.113	0.044	2232	2337	3024
2290	-0.79	-146.0	201.1	-9.3	231	2292	0.12	0.00	0.00	0.000	6	0.169	0.000	2264	2337	3024
2599	-0.79	-146.0	225.5	-8.1	246	2600	0.00	0.00	0.00	0.000	6	0.000	0.000	2264	2337	3024
2909	-0.85	-146.0	250.5	-8.2	261	2913	0.00	2.33	0.00	0.000	4	0.000	0.073	2263	3745	3023
2941	-0.93	-146.0	253.2	-8.0	262	2945	0.12	2.22	0.00	0.000	6	0.108	0.044	2220	2319	3023
3262	-0.85	-146.0	279.8	-7.6	278	3267	0.12	2.38	0.00	0.000	4	0.172	0.073	2248	3745	3023
3306	-0.90	-146.0	282.6	-6.3	280	3310	0.00	2.20	0.00	0.000	6	0.000	0.045	2248	2340	3023
3632	-0.90	-146.0	302.1	-6.0	296	3635	0.00	2.22	0.00	0.000	4	0.000	0.059	2248	934	3022
3670	-0.90	-146.0	304.8	-6.7	297	3676	0.00	2.25	0.00	0.000	6	0.000	0.054	2248	2343	3022
3986	-0.90	-146.0	323.0	-5.5	313	3989	0.00	2.30	0.00	0.000	4	0.000	0.072	2248	3745	3022
4080	-0.97	-146.0	328.2	-5.8	317	4085	0.08	2.20	0.00	0.000	6	0.135	0.044	2219	2331	3022
4407	-0.91	-146.0	349.3	-6.7	333	4410	0.00	2.20	0.00	0.000	4	0.000	0.059	2219	941	3022
4433	-0.82	-146.0	351.3	-8.0	334	4438	0.15	2.25	0.00	0.000	6	0.170	0.054	2258	2350	3022
4760	-0.92	-146.0	370.4	-5.7	350	4762	0.10	0.00	0.00	0.000	6	0.108	0.000	2222	2351	3022
5069	-0.92	-146.0	393.0	-7.9	365	5070	0.00	0.00	0.00	0.000	6	0.000	0.000	2222	2351	3022
5375	-0.92	-146.0	416.3	-7.6	375	5378	0.00	2.30	0.00	0.000	4	0.000	0.071	2222	3756	3022
5480	-0.92	-146.0	425.0	-8.5	377	5484	0.00	2.22	0.00	0.000	6	0.000	0.043	2221	2344	3022
5794	-0.92	-146.0	447.7	-6.9	385	5795	0.00	0.00	0.00	0.000	6	0.000	0.000	2222	2343	3022
6119	-0.92	-146.0	469.1	-6.7	393	6120	0.00	0.00	0.00	0.000	6	0.000	0.000	2222	2343	3022
6400	end dive: TARGET_DEPTH_EXCEEDED
state	6400	begin apogee
6405	-0.34	0.0	487.7	6.5	400	6534	0.47	0.00	125.62	1.243	6	0.154	0.000	2364	2527	2420
6535	end apogee: CONTROL_FINISHED_OK
state	6535	begin climb
6537	1.08	146.0	490.0	0.0	403	6670	1.02	0.00	128.57	1.147	6	0.114	0.000	2666	2526	1824
6984	0.90	146.0	453.0	9.1	414	6989	0.15	2.45	0.00	0.000	4	0.146	0.070	2627	3937	1821
7028	0.75	146.0	449.2	8.4	415	7033	0.12	2.33	0.00	0.000	6	0.153	0.042	2595	2516	1821
7352	0.87	186.3	430.6	5.6	423	7394	0.12	2.40	33.78	1.160	4	0.085	0.057	2642	1126	1659
7421	0.87	186.3	425.4	7.9	424	7426	0.00	2.38	0.00	0.000	6	0.000	0.051	2642	2533	1658
7744	0.83	186.3	397.8	8.7	433	7749	0.12	2.35	0.00	0.000	4	0.152	0.069	2610	3937	1658
7782	0.83	186.3	394.3	8.5	435	7786	0.00	2.28	0.00	0.000	6	0.000	0.041	2610	2508	1657
8108	0.92	186.3	369.6	7.4	451	8113	0.10	2.25	0.00	0.000	4	0.091	0.055	2651	1109	1658
8146	0.92	186.3	366.4	8.4	453	8150	0.00	2.28	0.00	0.000	6	0.000	0.051	2650	2523	1657
8472	0.86	186.3	339.8	7.9	469	8474	0.12	0.00	0.00	0.000	6	0.148	0.000	2615	2523	1657
8782	0.99	233.3	321.7	5.4	484	8823	0.12	0.00	38.47	1.144	6	0.087	0.000	2664	2524	1468
9130	0.99	233.3	293.1	8.6	501	9134	0.00	2.30	0.00	0.000	4	0.000	0.056	2664	1114	1466
9168	0.99	233.3	289.7	8.8	502	9175	0.00	2.30	0.00	0.000	6	0.000	0.049	2664	2520	1465
9484	0.99	233.3	262.4	8.5	518	9488	0.00	2.30	0.00	0.000	4	0.000	0.067	2664	3928	1465
9516	0.88	233.3	259.3	9.4	519	9521	0.15	2.22	0.00	0.000	6	0.147	0.042	2623	2508	1466
9837	1.06	279.4	241.1	5.4	535	9881	0.15	2.38	37.97	1.111	4	0.080	0.057	2680	1118	1279
9909	1.06	279.4	235.5	8.1	538	9913	0.00	2.33	0.00	0.000	6	0.000	0.048	2680	2533	1277
10235	1.06	279.4	207.7	8.5	554	10236	0.00	0.00	0.00	0.000	6	0.000	0.000	2681	2533	1275
10545	1.06	279.4	181.2	8.8	569	10549	0.00	2.30	0.00	0.000	4	0.000	0.058	2680	1111	1275
10594	1.06	279.4	176.8	8.4	571	10598	0.00	2.30	0.00	0.000	6	0.000	0.050	2680	2528	1274
10920	1.06	279.4	149.1	8.4	587	10924	0.00	2.28	0.00	0.000	4	0.000	0.058	2680	1113	1274
10942	1.06	279.4	147.2	8.6	588	10946	0.00	2.22	0.00	0.000	6	0.000	0.051	2681	2520	1274
11274	1.06	279.4	119.0	8.3	604	11275	0.00	0.00	0.00	0.000	6	0.000	0.000	2680	2520	1274
11587	1.11	279.4	95.4	7.8	625	11593	0.00	2.25	0.00	0.000	4	0.000	0.058	2680	1116	1273
11644	1.20	279.4	90.8	8.4	635	11651	0.00	2.25	0.00	0.000	6	0.000	0.051	2680	2532	1273
11988	1.25	279.4	61.2	7.9	696	11995	0.10	2.30	0.00	0.000	4	0.090	0.072	2721	3931	1272
12006	1.25	279.4	59.6	8.3	699	12013	0.00	2.22	0.00	0.000	6	0.000	0.045	2721	2510	1272
12350	1.25	279.4	29.5	8.3	760	12356	0.00	2.38	0.00	0.000	4	0.000	0.074	2721	3936	1272
12390	1.13	279.4	25.7	9.6	767	12397	0.15	2.22	0.00	0.000	6	0.150	0.045	2679	2513	1272
12735	1.48	311.4	6.4	5.9	828	12766	0.22	2.35	25.62	1.032	4	0.077	0.058	2770	1111	1150
12793	end climb: SURFACE_DEPTH_REACHED
state	12793	begin surface coast
12800	end surface coast: CONTROL_FINISHED_OK
state	12800	begin surface