Glider dive log

DavisStrait Sep08 * SG113 * Dive index * Mission links * Dive 487 * 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 487 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 558.3028 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 22 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 900 T_GPS_CHARGE -101337.85 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 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 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 558.3028

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 900 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 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 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 -101337.85

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 22 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 487 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 201850,6635.077,-6021.769,0,3084.7,0,-37.7 TGT_NAME TARGET_W_IN

_CALLS 5 TGT_LATLONG 6642.000,-6043.000

_XMS_NAKs 0 TGT_RADIUS 10000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.170,0.146

_SM_DEPTHo 2.50 KALMAN_X 85779.1,-2380.0,-5762.0,-154322.2,15494.4

_SM_ANGLEo -42.9 KALMAN_Y -79270.5,2199.4,5324.8,-11829.3,-14318.8

GPS2 201850,6635.077,-6021.769,0,3084.7,0,-37.7 MHEAD_RNG_PITCHd_Wd 348.5,20157,-12.9,-7.021

SPEED_LIMITS 0.122,0.224 D_GRID 500

Post-dive calculations and measurements:

FINISH 2.1,1.025969 TCM_TEMP 15.00

SM_CCo 12670,143.38,0.907,2,0,145,558.30 XPDR_PINGS 1

SM_GC 2.69,8.82,0.00,0.00,0.085,0.000,0.000,167,2339,140,-10.38,-0.03,559.28 _24V_AH 20.4,90.579

RAFOS_CLK 847 _10V_AH 10.4,41.564

RAFOS 0,1230509054,0.083333,0.070556,104,75,60,51,49,48,578,214,190,439,114,148 DATA_FILE_SIZE 28438,808

RAFOS_FIX 6635.076660,-6021.768555,281208,202050,3,85,0.25 CAP_FILE_SIZE 112462,0

IRIDIUM_FIX 6558.99,-6001.28,230398,030306 CFSIZE 260165632,214364160

TT8_MAMPS 0.027612 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,5,0

HUMID 1930 SOUNDSPEED 1444.3

INTERNAL_PRESSURE 8.38899 GPS 281208,201850,6635.077,-6021.769,0,3084.7,0,-37.7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 22 266 124.96 SBE_CT 631 24 309.10

Roll_motor 120 75 184.73 SBE_O2 547 19 212.14

VBD_pump_during_apogee 505 1196 12336.31 nil 0 0 0.00

VBD_pump_during_surface 143 907 2653.89 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 168 103 353.54 nil 0 0 0.00

Iridium_during_connect 144 160 470.45 nil 0 0 0.00

Iridium_during_xfer 0 223 0.00

Transponder_ping 0 420 2.14

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 906 50 471.40

TT8 1455 19 301.53

LPSleep 9213 2 221.33

TT8_Active 812 19 168.28

TT8_Sampling 2508 39 1041.61

TT8_CF8 653 45 312.03

TT8_Kalman 33 81 28.42

Analog_circuits 1727 12 215.53

GPS_charging 0 0 0.00

Compass 1590 8 132.34

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

12 end surface: CONTROL_FINISHED_OK

state 12 begin dive

16 -1.08 -146.0 0.0 0.0 0 153 0.00 0.00 -133.82 0.000 2 0.000 0.000 164 2336 2339

157 -1.08 -146.0 3.2 -0.5 24 199 8.80 2.38 -26.10 0.000 4 0.267 0.072 2199 934 3017

348 -0.75 -146.0 33.8 -16.8 57 355 0.28 2.38 0.00 0.000 6 0.171 0.057 2272 2347 3020

695 -0.68 -146.0 75.3 -11.5 118 701 0.00 2.45 0.00 0.000 4 0.000 0.075 2272 3746 3020

776 -0.68 -146.0 84.8 -11.2 132 782 0.00 2.30 0.00 0.000 6 0.000 0.043 2272 2333 3020

1113 -0.68 -146.0 121.0 -11.3 167 1117 0.00 2.35 0.00 0.000 4 0.000 0.059 2272 926 3020

1236 -0.61 -146.0 135.4 -11.2 172 1241 0.12 2.40 0.00 0.000 6 0.163 0.055 2304 2348 3020

1554 -0.72 -146.0 161.1 -7.1 187 1559 0.10 2.47 0.00 0.000 4 0.110 0.072 2270 3753 3020

1627 -0.78 -146.0 167.3 -9.3 190 1631 0.00 2.33 0.00 0.000 6 0.000 0.042 2270 2325 3020

1943 -0.78 -146.0 198.2 -10.4 205 1944 0.00 0.00 0.00 0.000 6 0.000 0.000 2269 2325 3020

2253 -0.78 -146.0 230.5 -9.5 220 2254 0.00 0.00 0.00 0.000 6 0.000 0.000 2270 2325 3020

2563 -0.83 -146.0 256.9 -8.3 235 2567 0.00 2.35 0.00 0.000 4 0.000 0.058 2270 929 3020

2642 -0.83 -146.0 263.7 -8.2 238 2646 0.00 2.42 0.00 0.000 6 0.000 0.058 2270 2351 3020

2960 -0.91 -146.0 286.0 -6.7 253 2965 0.12 2.47 0.00 0.000 4 0.097 0.072 2224 3750 3020

3049 -0.91 -146.0 293.9 -8.5 257 3053 0.00 2.33 0.00 0.000 6 0.000 0.043 2224 2329 3020

3378 -0.84 -146.0 322.7 -9.3 273 3383 0.12 2.38 0.00 0.000 4 0.170 0.058 2255 933 3020

3473 -0.84 -146.0 331.2 -8.4 277 3477 0.00 2.40 0.00 0.000 6 0.000 0.055 2255 2345 3020

3790 -0.91 -146.0 355.8 -7.1 292 3794 0.00 2.47 0.00 0.000 4 0.000 0.073 2255 3750 3020

3870 -1.03 -146.0 361.1 -6.4 295 3875 0.17 2.30 0.00 0.000 6 0.086 0.042 2197 2341 3020

4187 -0.90 -146.0 391.2 -10.0 310 4191 0.17 2.40 0.00 0.000 4 0.156 0.057 2243 931 3020

4277 -0.90 -146.0 399.7 -8.6 314 4281 0.00 2.40 0.00 0.000 6 0.000 0.054 2244 2345 3020

4620 -0.90 -146.0 424.4 -6.8 323 4624 0.00 2.47 0.00 0.000 4 0.000 0.072 2244 3749 3020

4834 -0.99 -146.0 440.2 -7.5 327 4839 0.10 2.30 0.00 0.000 6 0.103 0.041 2210 2338 3021

5171 -0.93 -146.0 468.6 -8.8 336 5176 0.10 2.38 0.00 0.000 4 0.166 0.054 2233 935 3022

5343 -0.93 -146.0 483.2 -8.7 339 5349 0.00 2.40 0.00 0.000 6 0.000 0.055 2234 2343 3022

5676 -1.44 -146.0 489.7 -0.0 348 5681 0.32 2.42 0.00 0.000 4 0.078 0.054 2113 930 3023

5713 end dive: NO_VERTICAL_VELOCITY

state 5713 begin apogee

5724 -0.34 0.0 489.6 0.0 349 5858 0.80 0.00 131.55 1.197 6 0.108 0.000 2364 2521 2420

5859 end apogee: CONTROL_FINISHED_OK

state 5859 begin climb

5863 1.08 146.0 489.5 0.0 352 6033 1.08 2.83 143.57 1.075 4 0.105 0.067 2665 3926 1824

6147 0.83 146.0 472.3 9.0 358 6152 0.20 2.50 0.00 0.000 6 0.140 0.040 2616 2521 1825

6495 0.89 184.9 452.5 5.7 367 6537 0.00 0.00 35.90 1.102 6 0.000 0.000 2616 2521 1666

6863 0.96 184.9 426.3 7.4 376 6865 0.12 0.00 0.00 0.000 6 0.075 0.000 2662 2522 1666

7189 0.90 185.9 402.4 7.0 384 7194 0.12 2.58 0.00 0.000 4 0.131 0.067 2628 3934 1665

7239 0.90 185.9 398.6 7.3 385 7243 0.00 2.40 0.00 0.000 6 0.000 0.040 2629 2508 1665

7562 0.98 197.0 376.3 6.6 401 7582 0.00 2.53 11.30 1.031 4 0.000 0.068 2629 3937 1617

7601 1.00 209.2 373.8 6.6 402 7618 0.10 2.38 12.25 1.023 6 0.085 0.040 2665 2509 1567

7935 1.00 209.2 350.8 7.6 419 7939 0.00 2.47 0.00 0.000 4 0.000 0.069 2665 3929 1568

7946 0.95 209.2 349.7 8.2 419 7953 0.10 2.30 0.00 0.000 6 0.156 0.041 2641 2511 1568

8264 1.07 248.5 329.6 5.7 435 8303 0.10 0.00 33.75 1.099 6 0.091 0.000 2680 2510 1406

8613 1.07 248.5 305.9 7.1 452 8616 0.00 2.45 0.00 0.000 4 0.000 0.069 2681 3942 1406

8664 0.95 248.5 301.3 9.6 454 8669 0.15 2.28 0.00 0.000 6 0.143 0.041 2640 2516 1407

8992 1.14 296.4 281.7 5.4 470 9040 0.15 2.42 40.38 1.085 4 0.075 0.054 2704 1117 1210

9046 1.14 296.4 277.5 7.3 472 9053 0.00 2.40 0.00 0.000 6 0.000 0.051 2704 2522 1210

9363 1.14 296.4 251.1 9.0 488 9364 0.00 0.00 0.00 0.000 6 0.000 0.000 2704 2522 1208

9672 1.14 296.4 223.0 8.4 503 9676 0.00 2.38 0.00 0.000 4 0.000 0.071 2704 3927 1207

9689 1.14 296.4 221.5 8.2 503 9695 0.00 2.25 0.00 0.000 6 0.000 0.042 2704 2518 1208

10006 1.16 312.8 201.6 6.5 519 10028 0.00 2.45 13.90 1.022 4 0.000 0.071 2704 3933 1144

10052 1.11 312.8 197.8 8.4 521 10056 0.12 2.28 0.00 0.000 6 0.143 0.042 2669 2519 1144

10385 1.41 312.8 174.6 7.5 537 10389 0.20 2.30 0.00 0.000 4 0.076 0.054 2748 1115 1144

10469 1.41 312.8 167.3 8.9 540 10476 0.00 2.33 0.00 0.000 6 0.000 0.052 2749 2527 1143

10786 1.33 312.8 139.4 7.9 556 10791 0.10 2.42 0.00 0.000 4 0.148 0.071 2721 3937 1143

10799 1.25 312.8 138.5 7.4 556 10805 0.00 2.28 0.00 0.000 6 0.000 0.042 2722 2520 1143

11115 1.25 312.8 116.9 8.3 572 11119 0.00 2.45 0.00 0.000 4 0.000 0.071 2722 3929 1142

11127 1.25 312.8 115.8 8.4 572 11131 0.00 2.28 0.00 0.000 6 0.000 0.043 2722 2517 1142

11453 1.37 366.2 96.1 5.2 596 11506 0.00 2.53 45.95 1.035 4 0.000 0.071 2722 3937 927

11525 1.45 387.1 91.6 6.3 608 11551 0.12 2.38 20.00 0.945 6 0.087 0.042 2765 2516 841

11890 1.45 387.1 58.1 9.4 672 11896 0.00 0.00 0.00 0.000 6 0.000 0.000 2765 2516 834

12235 1.45 387.1 25.0 9.1 733 12241 0.00 2.33 0.00 0.000 4 0.000 0.061 2770 1113 832

12254 1.45 387.1 23.3 9.0 736 12261 0.00 2.33 0.00 0.000 6 0.000 0.054 2770 2528 831

12601 1.91 599.2 2.2 -0.2 797 12620 0.22 0.00 16.85 0.972 2 0.074 0.000 2864 2529 756

12621 end climb: SURFACE_DEPTH_REACHED

state 12621 begin surface coast

12665 end surface coast: NO_VERTICAL_VELOCITY

state 12665 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	487	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	558.3028	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	22	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	900	T_GPS_CHARGE	-101337.85	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	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	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	201850,6635.077,-6021.769,0,3084.7,0,-37.7	TGT_NAME	TARGET_W_IN
_CALLS	5	TGT_LATLONG	6642.000,-6043.000
_XMS_NAKs	0	TGT_RADIUS	10000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.170,0.146
_SM_DEPTHo	2.50	KALMAN_X	85779.1,-2380.0,-5762.0,-154322.2,15494.4
_SM_ANGLEo	-42.9	KALMAN_Y	-79270.5,2199.4,5324.8,-11829.3,-14318.8
GPS2	201850,6635.077,-6021.769,0,3084.7,0,-37.7	MHEAD_RNG_PITCHd_Wd	348.5,20157,-12.9,-7.021
SPEED_LIMITS	0.122,0.224	D_GRID	500

FINISH	2.1,1.025969	TCM_TEMP	15.00
SM_CCo	12670,143.38,0.907,2,0,145,558.30	XPDR_PINGS	1
SM_GC	2.69,8.82,0.00,0.00,0.085,0.000,0.000,167,2339,140,-10.38,-0.03,559.28	_24V_AH	20.4,90.579
RAFOS_CLK	847	_10V_AH	10.4,41.564
RAFOS	0,1230509054,0.083333,0.070556,104,75,60,51,49,48,578,214,190,439,114,148	DATA_FILE_SIZE	28438,808
RAFOS_FIX	6635.076660,-6021.768555,281208,202050,3,85,0.25	CAP_FILE_SIZE	112462,0
IRIDIUM_FIX	6558.99,-6001.28,230398,030306	CFSIZE	260165632,214364160
TT8_MAMPS	0.027612	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,5,0
HUMID	1930	SOUNDSPEED	1444.3
INTERNAL_PRESSURE	8.38899	GPS	281208,201850,6635.077,-6021.769,0,3084.7,0,-37.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	22	266	124.96	SBE_CT	631	24	309.10
Roll_motor	120	75	184.73	SBE_O2	547	19	212.14
VBD_pump_during_apogee	505	1196	12336.31	nil	0	0	0.00
VBD_pump_during_surface	143	907	2653.89	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	168	103	353.54	nil	0	0	0.00
Iridium_during_connect	144	160	470.45	nil	0	0	0.00
Iridium_during_xfer	0	223	0.00
Transponder_ping	0	420	2.14
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	906	50	471.40
TT8	1455	19	301.53
LPSleep	9213	2	221.33
TT8_Active	812	19	168.28
TT8_Sampling	2508	39	1041.61
TT8_CF8	653	45	312.03
TT8_Kalman	33	81	28.42
Analog_circuits	1727	12	215.53
GPS_charging	0	0	0.00
Compass	1590	8	132.34
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
12	end surface: CONTROL_FINISHED_OK
state	12	begin dive
16	-1.08	-146.0	0.0	0.0	0	153	0.00	0.00	-133.82	0.000	2	0.000	0.000	164	2336	2339
157	-1.08	-146.0	3.2	-0.5	24	199	8.80	2.38	-26.10	0.000	4	0.267	0.072	2199	934	3017
348	-0.75	-146.0	33.8	-16.8	57	355	0.28	2.38	0.00	0.000	6	0.171	0.057	2272	2347	3020
695	-0.68	-146.0	75.3	-11.5	118	701	0.00	2.45	0.00	0.000	4	0.000	0.075	2272	3746	3020
776	-0.68	-146.0	84.8	-11.2	132	782	0.00	2.30	0.00	0.000	6	0.000	0.043	2272	2333	3020
1113	-0.68	-146.0	121.0	-11.3	167	1117	0.00	2.35	0.00	0.000	4	0.000	0.059	2272	926	3020
1236	-0.61	-146.0	135.4	-11.2	172	1241	0.12	2.40	0.00	0.000	6	0.163	0.055	2304	2348	3020
1554	-0.72	-146.0	161.1	-7.1	187	1559	0.10	2.47	0.00	0.000	4	0.110	0.072	2270	3753	3020
1627	-0.78	-146.0	167.3	-9.3	190	1631	0.00	2.33	0.00	0.000	6	0.000	0.042	2270	2325	3020
1943	-0.78	-146.0	198.2	-10.4	205	1944	0.00	0.00	0.00	0.000	6	0.000	0.000	2269	2325	3020
2253	-0.78	-146.0	230.5	-9.5	220	2254	0.00	0.00	0.00	0.000	6	0.000	0.000	2270	2325	3020
2563	-0.83	-146.0	256.9	-8.3	235	2567	0.00	2.35	0.00	0.000	4	0.000	0.058	2270	929	3020
2642	-0.83	-146.0	263.7	-8.2	238	2646	0.00	2.42	0.00	0.000	6	0.000	0.058	2270	2351	3020
2960	-0.91	-146.0	286.0	-6.7	253	2965	0.12	2.47	0.00	0.000	4	0.097	0.072	2224	3750	3020
3049	-0.91	-146.0	293.9	-8.5	257	3053	0.00	2.33	0.00	0.000	6	0.000	0.043	2224	2329	3020
3378	-0.84	-146.0	322.7	-9.3	273	3383	0.12	2.38	0.00	0.000	4	0.170	0.058	2255	933	3020
3473	-0.84	-146.0	331.2	-8.4	277	3477	0.00	2.40	0.00	0.000	6	0.000	0.055	2255	2345	3020
3790	-0.91	-146.0	355.8	-7.1	292	3794	0.00	2.47	0.00	0.000	4	0.000	0.073	2255	3750	3020
3870	-1.03	-146.0	361.1	-6.4	295	3875	0.17	2.30	0.00	0.000	6	0.086	0.042	2197	2341	3020
4187	-0.90	-146.0	391.2	-10.0	310	4191	0.17	2.40	0.00	0.000	4	0.156	0.057	2243	931	3020
4277	-0.90	-146.0	399.7	-8.6	314	4281	0.00	2.40	0.00	0.000	6	0.000	0.054	2244	2345	3020
4620	-0.90	-146.0	424.4	-6.8	323	4624	0.00	2.47	0.00	0.000	4	0.000	0.072	2244	3749	3020
4834	-0.99	-146.0	440.2	-7.5	327	4839	0.10	2.30	0.00	0.000	6	0.103	0.041	2210	2338	3021
5171	-0.93	-146.0	468.6	-8.8	336	5176	0.10	2.38	0.00	0.000	4	0.166	0.054	2233	935	3022
5343	-0.93	-146.0	483.2	-8.7	339	5349	0.00	2.40	0.00	0.000	6	0.000	0.055	2234	2343	3022
5676	-1.44	-146.0	489.7	-0.0	348	5681	0.32	2.42	0.00	0.000	4	0.078	0.054	2113	930	3023
5713	end dive: NO_VERTICAL_VELOCITY
state	5713	begin apogee
5724	-0.34	0.0	489.6	0.0	349	5858	0.80	0.00	131.55	1.197	6	0.108	0.000	2364	2521	2420
5859	end apogee: CONTROL_FINISHED_OK
state	5859	begin climb
5863	1.08	146.0	489.5	0.0	352	6033	1.08	2.83	143.57	1.075	4	0.105	0.067	2665	3926	1824
6147	0.83	146.0	472.3	9.0	358	6152	0.20	2.50	0.00	0.000	6	0.140	0.040	2616	2521	1825
6495	0.89	184.9	452.5	5.7	367	6537	0.00	0.00	35.90	1.102	6	0.000	0.000	2616	2521	1666
6863	0.96	184.9	426.3	7.4	376	6865	0.12	0.00	0.00	0.000	6	0.075	0.000	2662	2522	1666
7189	0.90	185.9	402.4	7.0	384	7194	0.12	2.58	0.00	0.000	4	0.131	0.067	2628	3934	1665
7239	0.90	185.9	398.6	7.3	385	7243	0.00	2.40	0.00	0.000	6	0.000	0.040	2629	2508	1665
7562	0.98	197.0	376.3	6.6	401	7582	0.00	2.53	11.30	1.031	4	0.000	0.068	2629	3937	1617
7601	1.00	209.2	373.8	6.6	402	7618	0.10	2.38	12.25	1.023	6	0.085	0.040	2665	2509	1567
7935	1.00	209.2	350.8	7.6	419	7939	0.00	2.47	0.00	0.000	4	0.000	0.069	2665	3929	1568
7946	0.95	209.2	349.7	8.2	419	7953	0.10	2.30	0.00	0.000	6	0.156	0.041	2641	2511	1568
8264	1.07	248.5	329.6	5.7	435	8303	0.10	0.00	33.75	1.099	6	0.091	0.000	2680	2510	1406
8613	1.07	248.5	305.9	7.1	452	8616	0.00	2.45	0.00	0.000	4	0.000	0.069	2681	3942	1406
8664	0.95	248.5	301.3	9.6	454	8669	0.15	2.28	0.00	0.000	6	0.143	0.041	2640	2516	1407
8992	1.14	296.4	281.7	5.4	470	9040	0.15	2.42	40.38	1.085	4	0.075	0.054	2704	1117	1210
9046	1.14	296.4	277.5	7.3	472	9053	0.00	2.40	0.00	0.000	6	0.000	0.051	2704	2522	1210
9363	1.14	296.4	251.1	9.0	488	9364	0.00	0.00	0.00	0.000	6	0.000	0.000	2704	2522	1208
9672	1.14	296.4	223.0	8.4	503	9676	0.00	2.38	0.00	0.000	4	0.000	0.071	2704	3927	1207
9689	1.14	296.4	221.5	8.2	503	9695	0.00	2.25	0.00	0.000	6	0.000	0.042	2704	2518	1208
10006	1.16	312.8	201.6	6.5	519	10028	0.00	2.45	13.90	1.022	4	0.000	0.071	2704	3933	1144
10052	1.11	312.8	197.8	8.4	521	10056	0.12	2.28	0.00	0.000	6	0.143	0.042	2669	2519	1144
10385	1.41	312.8	174.6	7.5	537	10389	0.20	2.30	0.00	0.000	4	0.076	0.054	2748	1115	1144
10469	1.41	312.8	167.3	8.9	540	10476	0.00	2.33	0.00	0.000	6	0.000	0.052	2749	2527	1143
10786	1.33	312.8	139.4	7.9	556	10791	0.10	2.42	0.00	0.000	4	0.148	0.071	2721	3937	1143
10799	1.25	312.8	138.5	7.4	556	10805	0.00	2.28	0.00	0.000	6	0.000	0.042	2722	2520	1143
11115	1.25	312.8	116.9	8.3	572	11119	0.00	2.45	0.00	0.000	4	0.000	0.071	2722	3929	1142
11127	1.25	312.8	115.8	8.4	572	11131	0.00	2.28	0.00	0.000	6	0.000	0.043	2722	2517	1142
11453	1.37	366.2	96.1	5.2	596	11506	0.00	2.53	45.95	1.035	4	0.000	0.071	2722	3937	927
11525	1.45	387.1	91.6	6.3	608	11551	0.12	2.38	20.00	0.945	6	0.087	0.042	2765	2516	841
11890	1.45	387.1	58.1	9.4	672	11896	0.00	0.00	0.00	0.000	6	0.000	0.000	2765	2516	834
12235	1.45	387.1	25.0	9.1	733	12241	0.00	2.33	0.00	0.000	4	0.000	0.061	2770	1113	832
12254	1.45	387.1	23.3	9.0	736	12261	0.00	2.33	0.00	0.000	6	0.000	0.054	2770	2528	831
12601	1.91	599.2	2.2	-0.2	797	12620	0.22	0.00	16.85	0.972	2	0.074	0.000	2864	2529	756
12621	end climb: SURFACE_DEPTH_REACHED
state	12621	begin surface coast
12665	end surface coast: NO_VERTICAL_VELOCITY
state	12665	begin surface