Glider dive log

DavisStrait Sep08 * SG108 * Dive index * Mission links * Dive 343 * 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 343 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 26 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 500 CALL_NDIVES 1 R_STBD_OVSHOOT 22 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 26 VBD_BLEED_AD_RATE 8

C_VBD 2650 MAX_BUOY 150 R_STBD_OVSHOOT 22 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 343 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 -0.232,-0.029

_SM_DEPTHo 2.13 KALMAN_X 249886.0,-2942.2,-1827.0,-275448.5,11973.7

_SM_ANGLEo 2.8 KALMAN_Y -229191.5,6669.7,6258.4,221352.9,-12851.9

GPS2 124109,6627.732,-6019.889,35,1.2,35,-37.7 MHEAD_RNG_PITCHd_Wd 300.5,31382,-13.0,-7.021

SPEED_LIMITS 0.122,0.233 D_GRID 481

Post-dive calculations and measurements:

FREEZE 2.19,-1.769,-1.739 TCM_TEMP 14.90

FINISH 2.2,1.025546 XPDR_PINGS 57

SM_CCo 11992,0.00,0.000,0,0,1387,309.81 _24V_AH 22.1,59.497

SM_GC 2.35,7.30,0.00,0.00,0.077,0.000,0.000,335,2240,1387,-10.70,0.28,309.81 _10V_AH 10.5,27.184

RAFOS_CLK 566 DATA_FILE_SIZE 28382,819

RAFOS 0,1227326654,4.083333,4.070556,71,61,60,58,55,53,198,170,131,207,226,159 CAP_FILE_SIZE 111456,0

RAFOS_FIX 6232.697266,-5331.492188,211108,000026,3,81,38.68 CFSIZE 260165632,228466688

IRIDIUM_FIX 6553.70,-5721.04,150298,121201 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TT8_MAMPS 0.026845 SOUNDSPEED 1443.0

HUMID 1814 GPS 211108,124109,6627.732,-6019.889,35,1.2,35,-37.7

INTERNAL_PRESSURE 9.81483

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 14 153 49.24 SBE_CT 574 24 304.59

Roll_motor 124 93 257.98 SBE_O2 0 0 0.00

VBD_pump_during_apogee 410 1164 10565.86 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 14 420 132.27

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 0 50 0.00

TT8 1549 19 324.02

LPSleep 8217 2 199.31

TT8_Active 481 19 100.80

TT8_Sampling 1617 39 678.05

TT8_CF8 185 45 89.55

TT8_Kalman 33 81 28.70

Analog_circuits 1366 12 172.24

GPS_charging 0 0 0.00

Compass 1599 8 134.38

RAFOS 1800 1 28.35

Transponder 0 5 0.03

Guidance and control:

st_secs pitch_ctl vbd_ctl depth ob_vertv data_pts end_secs pitch_secs roll_secs vbd_secs vbd_i gcphase pitch_i roll_i pitch_ad roll_ad vbd_ad

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 -5.62 0.000 2 0.000 0.000 2701 1730 2477

27 -0.99 -146.0 3.4 -0.0 1 68 0.65 1.50 -34.28 0.000 4 0.071 0.094 2455 807 3247

311 -0.72 -146.0 38.6 -15.0 51 318 0.28 2.35 0.00 0.000 6 0.153 0.070 2522 2236 3252

656 -0.72 -146.0 70.9 -10.4 112 662 0.00 2.22 0.00 0.000 4 0.000 0.083 2514 3598 3252

850 -0.72 -146.0 90.6 -10.2 146 856 0.00 2.17 0.00 0.000 6 0.000 0.057 2514 2223 3253

1191 -0.72 -146.0 125.4 -8.5 174 1194 0.00 2.25 0.00 0.000 4 0.000 0.070 2514 816 3252

1251 -0.72 -146.0 129.6 -6.5 176 1258 0.00 2.35 0.00 0.000 6 0.000 0.071 2504 2241 3252

1567 -0.72 -146.0 150.1 -6.8 192 1571 0.00 2.22 0.00 0.000 4 0.000 0.085 2493 3598 3252

1680 -0.72 -146.0 158.7 -7.4 197 1684 0.12 2.17 0.00 0.000 6 0.151 0.057 2526 2223 3252

2012 -0.82 -146.0 177.1 -5.3 213 2016 0.10 2.28 0.00 0.000 4 0.096 0.070 2484 809 3252

2107 -0.74 -146.0 184.5 -8.3 217 2112 0.17 2.35 0.00 0.000 6 0.146 0.071 2524 2235 3252

2428 -0.85 -146.0 204.9 -6.8 233 2433 0.12 2.25 0.00 0.000 4 0.084 0.084 2463 3601 3251

2593 -0.75 -146.0 219.6 -9.1 240 2598 0.20 2.20 0.00 0.000 6 0.147 0.057 2519 2212 3251

2920 -0.86 -146.0 242.2 -7.1 256 2925 0.10 2.25 0.00 0.000 4 0.094 0.069 2477 812 3251

3044 -0.75 -146.0 253.2 -9.1 261 3049 0.17 2.35 0.00 0.000 6 0.146 0.071 2514 2236 3251

3360 -0.85 -146.0 274.1 -6.1 276 3364 0.00 2.25 0.00 0.000 4 0.000 0.084 2506 3606 3251

3433 -0.96 -146.0 278.8 -6.0 279 3438 0.15 2.20 0.00 0.000 6 0.081 0.058 2448 2220 3251

3761 -0.82 -146.0 305.5 -8.8 295 3765 0.20 2.28 0.00 0.000 4 0.153 0.070 2510 810 3251

3834 -0.89 -146.0 311.3 -7.2 298 3838 0.00 2.35 0.00 0.000 6 0.000 0.070 2503 2236 3251

4162 -0.96 -146.0 332.4 -5.6 314 4164 0.12 0.00 0.00 0.000 6 0.084 0.000 2449 2236 3252

4470 -0.86 -146.0 355.7 -7.7 329 4475 0.17 2.35 0.00 0.000 4 0.153 0.069 2500 810 3251

4578 -0.91 -146.0 362.7 -6.8 334 4583 0.00 2.38 0.00 0.000 6 0.000 0.079 2492 2241 3251

4906 -0.97 -146.0 383.8 -6.5 350 4910 0.10 2.25 0.00 0.000 4 0.088 0.085 2437 3601 3251

4990 -0.85 -146.0 391.1 -8.9 354 4995 0.20 2.20 0.00 0.000 6 0.153 0.057 2493 2214 3251

5315 -0.93 -146.0 410.3 -5.7 366 5316 0.00 0.00 0.00 0.000 6 0.000 0.000 2493 2214 3251

5639 -1.03 -146.0 428.2 -5.4 374 5644 0.15 2.25 0.00 0.000 4 0.082 0.068 2434 813 3251

5796 end dive: NO_VERTICAL_VELOCITY

state 5796 begin apogee

5803 -0.31 0.0 429.3 0.0 377 5931 0.55 0.00 124.40 1.164 6 0.110 0.000 2614 1752 2650

5932 end apogee: CONTROL_FINISHED_OK

state 5932 begin climb

5934 0.99 146.0 429.2 0.0 380 6072 0.90 2.60 129.98 1.081 4 0.097 0.074 2898 3152 2054

6091 0.70 146.0 416.7 11.4 384 6096 0.30 2.53 0.00 0.000 6 0.140 0.058 2830 1746 2050

6409 0.71 156.2 394.2 6.7 394 6424 0.00 2.47 8.73 0.940 4 0.000 0.073 2830 3149 2013

6435 0.71 157.7 392.3 7.0 395 6439 0.00 2.40 0.00 0.000 6 0.000 0.056 2838 1721 2013

6762 0.71 157.7 368.2 7.7 411 6766 0.00 2.42 0.00 0.000 4 0.000 0.072 2838 3165 2014

6789 0.71 157.7 365.7 8.6 412 6793 0.00 2.33 0.00 0.000 6 0.000 0.055 2847 1733 2012

7113 0.72 159.4 342.9 7.0 428 7119 0.00 0.00 4.18 0.738 6 0.000 0.000 2847 1733 2000

7420 0.73 170.6 322.2 6.7 443 7441 0.00 2.42 11.52 1.004 4 0.000 0.074 2847 3154 1954

7447 0.74 182.7 320.4 6.6 444 7464 0.00 2.30 12.30 0.992 6 0.000 0.057 2856 1729 1905

7773 0.76 195.5 298.2 6.6 460 7794 0.00 2.45 12.18 0.998 4 0.000 0.073 2856 3160 1852

7805 0.78 210.8 296.0 6.5 461 7826 0.00 2.33 14.57 0.996 6 0.000 0.057 2865 1723 1790

8148 0.79 222.8 274.0 6.6 478 8164 0.00 2.40 11.35 0.978 4 0.000 0.085 2866 3159 1741

8182 0.81 234.3 271.6 6.6 478 8198 0.00 2.30 12.15 0.967 6 0.000 0.057 2875 1736 1694

8514 0.81 237.7 247.1 6.9 495 8523 0.00 2.40 3.58 0.643 4 0.000 0.076 2875 3150 1681

8565 0.75 237.7 243.2 7.8 497 8569 0.17 2.28 0.00 0.000 6 0.124 0.058 2833 1739 1681

8886 1.23 237.7 222.6 7.3 513 8890 0.32 2.35 0.00 0.000 4 0.078 0.074 2955 3158 1680

8952 0.82 237.7 215.3 12.3 516 8957 0.38 2.30 0.00 0.000 6 0.144 0.059 2855 1727 1680

9274 1.18 237.7 191.9 7.3 532 9279 0.22 2.38 0.00 0.000 4 0.076 0.075 2947 3161 1680

9363 0.83 237.7 183.1 11.6 536 9368 0.35 2.30 0.00 0.000 6 0.140 0.059 2853 1726 1679

9686 1.23 266.4 166.4 6.1 552 9719 0.25 2.33 26.50 1.010 4 0.074 0.074 2967 330 1564

9848 1.04 266.4 151.3 10.1 559 9853 0.22 2.35 0.00 0.000 6 0.141 0.066 2902 1741 1561

10164 1.09 266.4 128.8 7.5 574 10168 0.00 2.33 0.00 0.000 4 0.000 0.079 2902 3162 1558

10226 1.04 266.4 123.0 9.6 576 10232 0.00 2.30 0.00 0.000 6 0.000 0.061 2911 1739 1557

10547 1.06 279.1 92.8 6.6 601 10566 0.00 2.35 11.40 0.927 4 0.000 0.077 2921 323 1512

10584 1.06 283.6 90.1 6.9 607 10597 0.00 2.35 6.05 0.820 6 0.000 0.062 2921 1752 1493

10935 1.06 283.6 62.5 8.4 669 10941 0.00 2.30 0.00 0.000 4 0.000 0.078 2921 3158 1490

10948 1.06 283.6 61.3 8.3 671 10954 0.00 2.30 0.00 0.000 6 0.000 0.061 2931 1735 1490

11292 0.98 283.6 24.5 16.1 732 11299 0.15 2.33 0.00 0.000 4 0.134 0.077 2894 328 1489

11305 0.98 283.6 22.6 16.3 734 11311 0.00 2.33 0.00 0.000 6 0.000 0.064 2894 1740 1489

11650 1.21 307.6 13.2 6.2 795 11680 0.15 2.38 21.75 0.936 4 0.077 0.080 2957 3152 1395

11735 1.05 307.6 4.5 10.0 809 11742 0.22 2.33 0.00 0.000 6 0.149 0.065 2905 1734 1393

11746 end climb: SURFACE_DEPTH_REACHED

state 11746 begin surface coast

11793 end surface coast: CONTROL_FINISHED_OK

state 11793 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	343	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	26	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	500	CALL_NDIVES	1	R_STBD_OVSHOOT	22	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	-0.232,-0.029
_SM_DEPTHo	2.13	KALMAN_X	249886.0,-2942.2,-1827.0,-275448.5,11973.7
_SM_ANGLEo	2.8	KALMAN_Y	-229191.5,6669.7,6258.4,221352.9,-12851.9
GPS2	124109,6627.732,-6019.889,35,1.2,35,-37.7	MHEAD_RNG_PITCHd_Wd	300.5,31382,-13.0,-7.021
SPEED_LIMITS	0.122,0.233	D_GRID	481

FREEZE	2.19,-1.769,-1.739	TCM_TEMP	14.90
FINISH	2.2,1.025546	XPDR_PINGS	57
SM_CCo	11992,0.00,0.000,0,0,1387,309.81	_24V_AH	22.1,59.497
SM_GC	2.35,7.30,0.00,0.00,0.077,0.000,0.000,335,2240,1387,-10.70,0.28,309.81	_10V_AH	10.5,27.184
RAFOS_CLK	566	DATA_FILE_SIZE	28382,819
RAFOS	0,1227326654,4.083333,4.070556,71,61,60,58,55,53,198,170,131,207,226,159	CAP_FILE_SIZE	111456,0
RAFOS_FIX	6232.697266,-5331.492188,211108,000026,3,81,38.68	CFSIZE	260165632,228466688
IRIDIUM_FIX	6553.70,-5721.04,150298,121201	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TT8_MAMPS	0.026845	SOUNDSPEED	1443.0
HUMID	1814	GPS	211108,124109,6627.732,-6019.889,35,1.2,35,-37.7
INTERNAL_PRESSURE	9.81483

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	14	153	49.24	SBE_CT	574	24	304.59
Roll_motor	124	93	257.98	SBE_O2	0	0	0.00
VBD_pump_during_apogee	410	1164	10565.86	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	14	420	132.27
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	0	50	0.00
TT8	1549	19	324.02
LPSleep	8217	2	199.31
TT8_Active	481	19	100.80
TT8_Sampling	1617	39	678.05
TT8_CF8	185	45	89.55
TT8_Kalman	33	81	28.70
Analog_circuits	1366	12	172.24
GPS_charging	0	0	0.00
Compass	1599	8	134.38
RAFOS	1800	1	28.35
Transponder	0	5	0.03

st_secs	pitch_ctl	vbd_ctl	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad
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	-5.62	0.000	2	0.000	0.000	2701	1730	2477
27	-0.99	-146.0	3.4	-0.0	1	68	0.65	1.50	-34.28	0.000	4	0.071	0.094	2455	807	3247
311	-0.72	-146.0	38.6	-15.0	51	318	0.28	2.35	0.00	0.000	6	0.153	0.070	2522	2236	3252
656	-0.72	-146.0	70.9	-10.4	112	662	0.00	2.22	0.00	0.000	4	0.000	0.083	2514	3598	3252
850	-0.72	-146.0	90.6	-10.2	146	856	0.00	2.17	0.00	0.000	6	0.000	0.057	2514	2223	3253
1191	-0.72	-146.0	125.4	-8.5	174	1194	0.00	2.25	0.00	0.000	4	0.000	0.070	2514	816	3252
1251	-0.72	-146.0	129.6	-6.5	176	1258	0.00	2.35	0.00	0.000	6	0.000	0.071	2504	2241	3252
1567	-0.72	-146.0	150.1	-6.8	192	1571	0.00	2.22	0.00	0.000	4	0.000	0.085	2493	3598	3252
1680	-0.72	-146.0	158.7	-7.4	197	1684	0.12	2.17	0.00	0.000	6	0.151	0.057	2526	2223	3252
2012	-0.82	-146.0	177.1	-5.3	213	2016	0.10	2.28	0.00	0.000	4	0.096	0.070	2484	809	3252
2107	-0.74	-146.0	184.5	-8.3	217	2112	0.17	2.35	0.00	0.000	6	0.146	0.071	2524	2235	3252
2428	-0.85	-146.0	204.9	-6.8	233	2433	0.12	2.25	0.00	0.000	4	0.084	0.084	2463	3601	3251
2593	-0.75	-146.0	219.6	-9.1	240	2598	0.20	2.20	0.00	0.000	6	0.147	0.057	2519	2212	3251
2920	-0.86	-146.0	242.2	-7.1	256	2925	0.10	2.25	0.00	0.000	4	0.094	0.069	2477	812	3251
3044	-0.75	-146.0	253.2	-9.1	261	3049	0.17	2.35	0.00	0.000	6	0.146	0.071	2514	2236	3251
3360	-0.85	-146.0	274.1	-6.1	276	3364	0.00	2.25	0.00	0.000	4	0.000	0.084	2506	3606	3251
3433	-0.96	-146.0	278.8	-6.0	279	3438	0.15	2.20	0.00	0.000	6	0.081	0.058	2448	2220	3251
3761	-0.82	-146.0	305.5	-8.8	295	3765	0.20	2.28	0.00	0.000	4	0.153	0.070	2510	810	3251
3834	-0.89	-146.0	311.3	-7.2	298	3838	0.00	2.35	0.00	0.000	6	0.000	0.070	2503	2236	3251
4162	-0.96	-146.0	332.4	-5.6	314	4164	0.12	0.00	0.00	0.000	6	0.084	0.000	2449	2236	3252
4470	-0.86	-146.0	355.7	-7.7	329	4475	0.17	2.35	0.00	0.000	4	0.153	0.069	2500	810	3251
4578	-0.91	-146.0	362.7	-6.8	334	4583	0.00	2.38	0.00	0.000	6	0.000	0.079	2492	2241	3251
4906	-0.97	-146.0	383.8	-6.5	350	4910	0.10	2.25	0.00	0.000	4	0.088	0.085	2437	3601	3251
4990	-0.85	-146.0	391.1	-8.9	354	4995	0.20	2.20	0.00	0.000	6	0.153	0.057	2493	2214	3251
5315	-0.93	-146.0	410.3	-5.7	366	5316	0.00	0.00	0.00	0.000	6	0.000	0.000	2493	2214	3251
5639	-1.03	-146.0	428.2	-5.4	374	5644	0.15	2.25	0.00	0.000	4	0.082	0.068	2434	813	3251
5796	end dive: NO_VERTICAL_VELOCITY
state	5796	begin apogee
5803	-0.31	0.0	429.3	0.0	377	5931	0.55	0.00	124.40	1.164	6	0.110	0.000	2614	1752	2650
5932	end apogee: CONTROL_FINISHED_OK
state	5932	begin climb
5934	0.99	146.0	429.2	0.0	380	6072	0.90	2.60	129.98	1.081	4	0.097	0.074	2898	3152	2054
6091	0.70	146.0	416.7	11.4	384	6096	0.30	2.53	0.00	0.000	6	0.140	0.058	2830	1746	2050
6409	0.71	156.2	394.2	6.7	394	6424	0.00	2.47	8.73	0.940	4	0.000	0.073	2830	3149	2013
6435	0.71	157.7	392.3	7.0	395	6439	0.00	2.40	0.00	0.000	6	0.000	0.056	2838	1721	2013
6762	0.71	157.7	368.2	7.7	411	6766	0.00	2.42	0.00	0.000	4	0.000	0.072	2838	3165	2014
6789	0.71	157.7	365.7	8.6	412	6793	0.00	2.33	0.00	0.000	6	0.000	0.055	2847	1733	2012
7113	0.72	159.4	342.9	7.0	428	7119	0.00	0.00	4.18	0.738	6	0.000	0.000	2847	1733	2000
7420	0.73	170.6	322.2	6.7	443	7441	0.00	2.42	11.52	1.004	4	0.000	0.074	2847	3154	1954
7447	0.74	182.7	320.4	6.6	444	7464	0.00	2.30	12.30	0.992	6	0.000	0.057	2856	1729	1905
7773	0.76	195.5	298.2	6.6	460	7794	0.00	2.45	12.18	0.998	4	0.000	0.073	2856	3160	1852
7805	0.78	210.8	296.0	6.5	461	7826	0.00	2.33	14.57	0.996	6	0.000	0.057	2865	1723	1790
8148	0.79	222.8	274.0	6.6	478	8164	0.00	2.40	11.35	0.978	4	0.000	0.085	2866	3159	1741
8182	0.81	234.3	271.6	6.6	478	8198	0.00	2.30	12.15	0.967	6	0.000	0.057	2875	1736	1694
8514	0.81	237.7	247.1	6.9	495	8523	0.00	2.40	3.58	0.643	4	0.000	0.076	2875	3150	1681
8565	0.75	237.7	243.2	7.8	497	8569	0.17	2.28	0.00	0.000	6	0.124	0.058	2833	1739	1681
8886	1.23	237.7	222.6	7.3	513	8890	0.32	2.35	0.00	0.000	4	0.078	0.074	2955	3158	1680
8952	0.82	237.7	215.3	12.3	516	8957	0.38	2.30	0.00	0.000	6	0.144	0.059	2855	1727	1680
9274	1.18	237.7	191.9	7.3	532	9279	0.22	2.38	0.00	0.000	4	0.076	0.075	2947	3161	1680
9363	0.83	237.7	183.1	11.6	536	9368	0.35	2.30	0.00	0.000	6	0.140	0.059	2853	1726	1679
9686	1.23	266.4	166.4	6.1	552	9719	0.25	2.33	26.50	1.010	4	0.074	0.074	2967	330	1564
9848	1.04	266.4	151.3	10.1	559	9853	0.22	2.35	0.00	0.000	6	0.141	0.066	2902	1741	1561
10164	1.09	266.4	128.8	7.5	574	10168	0.00	2.33	0.00	0.000	4	0.000	0.079	2902	3162	1558
10226	1.04	266.4	123.0	9.6	576	10232	0.00	2.30	0.00	0.000	6	0.000	0.061	2911	1739	1557
10547	1.06	279.1	92.8	6.6	601	10566	0.00	2.35	11.40	0.927	4	0.000	0.077	2921	323	1512
10584	1.06	283.6	90.1	6.9	607	10597	0.00	2.35	6.05	0.820	6	0.000	0.062	2921	1752	1493
10935	1.06	283.6	62.5	8.4	669	10941	0.00	2.30	0.00	0.000	4	0.000	0.078	2921	3158	1490
10948	1.06	283.6	61.3	8.3	671	10954	0.00	2.30	0.00	0.000	6	0.000	0.061	2931	1735	1490
11292	0.98	283.6	24.5	16.1	732	11299	0.15	2.33	0.00	0.000	4	0.134	0.077	2894	328	1489
11305	0.98	283.6	22.6	16.3	734	11311	0.00	2.33	0.00	0.000	6	0.000	0.064	2894	1740	1489
11650	1.21	307.6	13.2	6.2	795	11680	0.15	2.38	21.75	0.936	4	0.077	0.080	2957	3152	1395
11735	1.05	307.6	4.5	10.0	809	11742	0.22	2.33	0.00	0.000	6	0.149	0.065	2905	1734	1393
11746	end climb: SURFACE_DEPTH_REACHED
state	11746	begin surface coast
11793	end surface coast: CONTROL_FINISHED_OK
state	11793	begin surface