Glider dive log

DavisStrait Sep08 * SG108 * Dive index * Mission links * Dive 538 * 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 538 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 27 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 500 CALL_NDIVES 1 R_STBD_OVSHOOT 27 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 -126752.72 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 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 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 -126752.72

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 -2

C_ROLL_CLIMB 1740 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 2

C_ROLL_DIVE 2230 MASS 51779 R_PORT_OVSHOOT 27 VBD_BLEED_AD_RATE 8

C_VBD 2650 MAX_BUOY 150 R_STBD_OVSHOOT 27 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 538 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 202120,6633.087,-6012.624,0,2098.0,0,-37.3 TGT_NAME TARGET_W_IN

_CALLS 3 TGT_LATLONG 6642.000,-6043.000

_XMS_NAKs 0 TGT_RADIUS 15000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 2.06 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo 1.5 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 202120,6633.087,-6012.624,0,2098.0,0,-37.3 MHEAD_RNG_PITCHd_Wd 343.9,27705,-13.0,-7.021

SPEED_LIMITS 0.122,0.233 D_GRID 516

Post-dive calculations and measurements:

FREEZE 2.38,-1.784,-1.767 TCM_TEMP 14.70

FINISH 2.4,1.025943 XPDR_PINGS 503

SM_CCo 16695,301.67,0.841,0,0,1732,225.19 _24V_AH 23.6,86.814

SM_GC 2.35,0.00,0.00,301.67,0.000,0.000,0.841,334,2227,1732,-10.79,-0.08,225.19 _10V_AH 10.4,39.803

RAFOS_CLK 764 DATA_FILE_SIZE 84930,2908

RAFOS 0,1230667446,20.083334,20.068333,60,56,54,54,53,50,214,181,204,143,127,229 CAP_FILE_SIZE 189676,0

RAFOS_FIX 6633.087402,-6012.624023,291208,202020,2,98,0.15 CFSIZE 260165632,216371200

IRIDIUM_FIX 6614.97,-5735.48,170398,050547 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TT8_MAMPS 0.026845 SOUNDSPEED 1437.1

HUMID 1790 GPS 291208,202120,6633.087,-6012.624,0,2098.0,0,-37.3

INTERNAL_PRESSURE 9.83436

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 9 187 42.91 SBE_CT 2046 24 1159.32

Roll_motor 128 80 243.71 SBE_O2 0 0 0.00

VBD_pump_during_apogee 7 828 148.57 nil 0 0 0.00

VBD_pump_during_surface 301 840 5984.90 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 125 420 1246.43

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 0 50 0.00

TT8 4410 19 913.62

LPSleep 7457 2 179.15

TT8_Active 545 19 112.97

TT8_Sampling 4208 39 1747.14

TT8_CF8 441 45 210.70

TT8_Kalman 0 0 0.00

Analog_circuits 2475 12 308.90

GPS_charging 0 0 0.00

Compass 4198 8 349.30

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

17 -0.99 -146.0 0.0 0.0 0 72 0.00 0.00 -50.12 0.000 6 0.000 0.000 2706 1734 3246

77 -0.99 -146.0 2.4 -1.1 10 84 0.68 3.15 0.00 0.000 4 0.058 0.075 2430 3591 3248

339 -0.90 -146.0 2.4 -0.0 56 346 0.20 2.17 0.00 0.000 6 0.149 0.051 2489 2211 3251

686 -0.81 -146.0 2.3 -0.0 117 692 0.00 2.33 0.00 0.000 4 0.000 0.078 2481 3600 3251

947 -0.72 -146.0 2.4 -0.1 163 954 0.15 2.15 0.00 0.000 6 0.165 0.050 2523 2224 3251

1294 -0.64 -146.0 2.4 -0.4 224 1300 0.00 2.30 0.00 0.000 4 0.000 0.080 2516 3597 3251

1556 -0.68 -146.0 2.4 0.1 270 1562 0.00 2.15 0.00 0.000 6 0.000 0.054 2515 2231 3251

1902 -0.68 -146.0 2.4 -0.2 331 1908 0.00 2.28 0.00 0.000 4 0.000 0.078 2506 3594 3251

2163 -0.68 -146.0 2.3 -0.0 377 2170 0.10 2.15 0.00 0.000 6 0.152 0.053 2531 2224 3251

2510 -0.60 -146.0 2.4 -0.2 438 2516 0.00 2.30 0.00 0.000 4 0.000 0.080 2523 3595 3251

2771 -0.53 -146.0 2.4 -0.2 484 2778 0.15 2.15 0.00 0.000 6 0.163 0.053 2566 2228 3251

3118 -0.42 -146.0 2.4 -0.0 545 3125 0.08 2.30 0.00 0.000 4 0.188 0.078 2579 3598 3251

3380 -0.42 -146.0 2.4 -0.0 591 3386 0.00 2.15 0.00 0.000 6 0.000 0.052 2579 2227 3251

3726 -0.32 -146.0 2.4 -0.1 652 3733 0.12 2.30 0.00 0.000 4 0.163 0.078 2605 3595 3250

3988 -0.24 -146.0 2.4 -0.2 698 3994 0.00 2.15 0.00 0.000 6 0.000 0.052 2608 2225 3250

4334 -0.15 -146.0 2.4 -0.1 759 4341 0.15 2.30 0.00 0.000 4 0.158 0.079 2643 3591 3250

4596 -0.08 -146.0 2.3 -0.1 805 4603 0.00 2.15 0.00 0.000 6 0.000 0.054 2643 2231 3250

4942 -0.08 -146.0 2.4 0.2 866 4948 0.00 2.30 0.00 0.000 4 0.000 0.079 2634 3603 3251

5203 -0.13 -146.0 2.4 -0.1 912 5210 0.00 2.17 0.00 0.000 6 0.000 0.053 2634 2224 3250

5548 -0.13 -146.0 2.3 0.3 973 5555 0.00 2.30 0.00 0.000 4 0.000 0.079 2624 3592 3250

5810 -0.13 -146.0 2.4 -1.8 1019 5817 0.12 2.15 0.00 0.000 6 0.151 0.051 2656 2223 3250

6158 -0.13 -146.0 2.4 0.0 1080 6164 0.00 2.30 0.00 0.000 4 0.000 0.080 2648 3590 3250

6419 -0.19 -146.0 2.3 -0.1 1126 6426 0.00 2.15 0.00 0.000 6 0.000 0.053 2648 2228 3250

6765 -0.19 -146.0 2.4 -0.1 1187 6771 0.00 2.30 0.00 0.000 4 0.000 0.078 2638 3599 3250

7026 -0.10 -146.0 2.4 -0.2 1233 7033 0.00 2.17 0.00 0.000 6 0.000 0.052 2638 2217 3251

7371 -0.10 -146.0 2.3 -0.0 1294 7378 0.00 2.33 0.00 0.000 4 0.000 0.080 2629 3598 3250

7633 -0.15 -146.0 2.4 0.0 1340 7640 0.00 2.17 0.00 0.000 6 0.000 0.053 2629 2219 3250

7979 -0.15 -146.0 2.3 -0.0 1401 7985 0.00 2.33 0.00 0.000 4 0.000 0.079 2619 3600 3250

8240 -0.15 -146.0 2.3 -0.0 1447 8248 0.12 2.17 0.00 0.000 6 0.151 0.053 2651 2226 3250

8586 -0.15 -146.0 2.3 0.1 1508 8592 0.00 2.30 0.00 0.000 4 0.000 0.079 2642 3591 3250

8848 -0.21 -146.0 2.3 -0.1 1554 8854 0.00 2.17 0.00 0.000 6 0.000 0.052 2642 2213 3250

9193 -0.21 -146.0 2.4 -2.6 1615 9199 0.00 2.33 0.00 0.000 4 0.000 0.079 2633 3589 3250

9454 -0.21 -146.0 2.3 -0.0 1661 9461 0.00 2.17 0.00 0.000 6 0.000 0.054 2633 2213 3250

9801 -0.15 -146.0 2.4 -0.2 1722 9807 0.00 2.33 0.00 0.000 4 0.000 0.080 2623 3590 3250

10061 -0.15 -146.0 2.2 0.1 1768 10068 0.10 2.17 0.00 0.000 6 0.150 0.052 2648 2211 3250

10408 -0.06 -146.0 2.2 -0.0 1829 10415 0.00 2.35 0.00 0.000 4 0.000 0.079 2639 3600 3250

10670 -0.11 -146.0 2.3 -1.4 1875 10676 0.00 2.17 0.00 0.000 6 0.000 0.053 2639 2224 3251

11016 -0.01 -146.0 2.4 -0.1 1936 11023 0.15 2.33 0.00 0.000 4 0.163 0.079 2672 3592 3250

11279 0.06 -146.0 2.3 -0.1 1982 11285 0.00 2.17 0.00 0.000 6 0.000 0.052 2672 2213 3250

11624 0.06 -146.0 2.3 -0.0 2043 11630 0.00 2.35 0.00 0.000 4 0.000 0.078 2663 3591 3250

11885 0.13 -146.0 2.2 0.1 2089 11892 0.17 2.17 0.00 0.000 6 0.153 0.051 2710 2216 3250

12232 0.21 -146.0 2.3 0.1 2150 12238 0.00 2.35 0.00 0.000 4 0.000 0.080 2702 3597 3250

12493 0.21 -146.0 2.3 -0.0 2196 12499 0.00 2.17 0.00 0.000 6 0.000 0.053 2704 2226 3250

12839 0.31 -146.0 2.2 -0.0 2257 12846 0.15 2.35 0.00 0.000 4 0.160 0.079 2737 3599 3250

13101 0.38 -146.0 2.4 -0.0 2303 13108 0.10 2.20 0.00 0.000 6 0.170 0.053 2760 2212 3250

13448 0.38 -146.0 2.3 0.1 2364 13454 0.00 2.35 0.00 0.000 4 0.000 0.080 2752 3595 3250

13709 0.38 -146.0 2.3 -0.1 2410 13715 0.00 2.17 0.00 0.000 6 0.000 0.052 2752 2222 3250

14055 0.47 -146.0 2.3 0.0 2471 14062 0.12 2.35 0.00 0.000 4 0.169 0.078 2776 3601 3250

14317 0.47 -146.0 2.3 0.0 2517 14323 0.00 2.20 0.00 0.000 6 0.000 0.054 2775 2218 3250

14663 0.57 -146.0 2.3 -0.1 2578 14670 0.12 2.35 0.00 0.000 4 0.169 0.080 2798 3595 3250

14926 0.65 -146.0 2.3 0.2 2624 14933 0.10 2.17 0.00 0.000 6 0.173 0.052 2822 2219 3250

15274 0.65 -146.0 2.3 -0.1 2685 15280 0.00 2.35 0.00 0.000 4 0.000 0.081 2814 3601 3250

15537 0.60 -146.0 2.3 -0.0 2731 15543 0.00 2.20 0.00 0.000 6 0.000 0.054 2814 2215 3250

15882 0.60 -146.0 2.2 0.0 2792 15888 0.00 2.33 0.00 0.000 4 0.000 0.080 2804 3590 3250

16143 0.60 -146.0 2.2 0.1 2838 16150 0.00 2.17 0.00 0.000 6 0.000 0.055 2804 2228 3250

16489 0.60 -146.0 2.4 -0.1 2899 16495 0.00 2.33 0.00 0.000 4 0.000 0.079 2794 3601 3250

16504 end dive: HALF_MISSION_TIME_EXCEEDED

state 16504 begin apogee

16515 -0.31 0.0 2.4 0.2 2902 16526 0.50 0.00 7.60 0.828 2 0.066 0.000 2600 1734 3216

16526 end apogee: SURFACE_DEPTH_REACHED

state 16526 begin surface coast

16554 end surface coast: NO_VERTICAL_VELOCITY

state 16554 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	538	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	27	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	500	CALL_NDIVES	1	R_STBD_OVSHOOT	27	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	-126752.72	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	202120,6633.087,-6012.624,0,2098.0,0,-37.3	TGT_NAME	TARGET_W_IN
_CALLS	3	TGT_LATLONG	6642.000,-6043.000
_XMS_NAKs	0	TGT_RADIUS	15000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	2.06	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	1.5	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	202120,6633.087,-6012.624,0,2098.0,0,-37.3	MHEAD_RNG_PITCHd_Wd	343.9,27705,-13.0,-7.021
SPEED_LIMITS	0.122,0.233	D_GRID	516

FREEZE	2.38,-1.784,-1.767	TCM_TEMP	14.70
FINISH	2.4,1.025943	XPDR_PINGS	503
SM_CCo	16695,301.67,0.841,0,0,1732,225.19	_24V_AH	23.6,86.814
SM_GC	2.35,0.00,0.00,301.67,0.000,0.000,0.841,334,2227,1732,-10.79,-0.08,225.19	_10V_AH	10.4,39.803
RAFOS_CLK	764	DATA_FILE_SIZE	84930,2908
RAFOS	0,1230667446,20.083334,20.068333,60,56,54,54,53,50,214,181,204,143,127,229	CAP_FILE_SIZE	189676,0
RAFOS_FIX	6633.087402,-6012.624023,291208,202020,2,98,0.15	CFSIZE	260165632,216371200
IRIDIUM_FIX	6614.97,-5735.48,170398,050547	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TT8_MAMPS	0.026845	SOUNDSPEED	1437.1
HUMID	1790	GPS	291208,202120,6633.087,-6012.624,0,2098.0,0,-37.3
INTERNAL_PRESSURE	9.83436

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	9	187	42.91	SBE_CT	2046	24	1159.32
Roll_motor	128	80	243.71	SBE_O2	0	0	0.00
VBD_pump_during_apogee	7	828	148.57	nil	0	0	0.00
VBD_pump_during_surface	301	840	5984.90	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	125	420	1246.43
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	0	50	0.00
TT8	4410	19	913.62
LPSleep	7457	2	179.15
TT8_Active	545	19	112.97
TT8_Sampling	4208	39	1747.14
TT8_CF8	441	45	210.70
TT8_Kalman	0	0	0.00
Analog_circuits	2475	12	308.90
GPS_charging	0	0	0.00
Compass	4198	8	349.30
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
17	-0.99	-146.0	0.0	0.0	0	72	0.00	0.00	-50.12	0.000	6	0.000	0.000	2706	1734	3246
77	-0.99	-146.0	2.4	-1.1	10	84	0.68	3.15	0.00	0.000	4	0.058	0.075	2430	3591	3248
339	-0.90	-146.0	2.4	-0.0	56	346	0.20	2.17	0.00	0.000	6	0.149	0.051	2489	2211	3251
686	-0.81	-146.0	2.3	-0.0	117	692	0.00	2.33	0.00	0.000	4	0.000	0.078	2481	3600	3251
947	-0.72	-146.0	2.4	-0.1	163	954	0.15	2.15	0.00	0.000	6	0.165	0.050	2523	2224	3251
1294	-0.64	-146.0	2.4	-0.4	224	1300	0.00	2.30	0.00	0.000	4	0.000	0.080	2516	3597	3251
1556	-0.68	-146.0	2.4	0.1	270	1562	0.00	2.15	0.00	0.000	6	0.000	0.054	2515	2231	3251
1902	-0.68	-146.0	2.4	-0.2	331	1908	0.00	2.28	0.00	0.000	4	0.000	0.078	2506	3594	3251
2163	-0.68	-146.0	2.3	-0.0	377	2170	0.10	2.15	0.00	0.000	6	0.152	0.053	2531	2224	3251
2510	-0.60	-146.0	2.4	-0.2	438	2516	0.00	2.30	0.00	0.000	4	0.000	0.080	2523	3595	3251
2771	-0.53	-146.0	2.4	-0.2	484	2778	0.15	2.15	0.00	0.000	6	0.163	0.053	2566	2228	3251
3118	-0.42	-146.0	2.4	-0.0	545	3125	0.08	2.30	0.00	0.000	4	0.188	0.078	2579	3598	3251
3380	-0.42	-146.0	2.4	-0.0	591	3386	0.00	2.15	0.00	0.000	6	0.000	0.052	2579	2227	3251
3726	-0.32	-146.0	2.4	-0.1	652	3733	0.12	2.30	0.00	0.000	4	0.163	0.078	2605	3595	3250
3988	-0.24	-146.0	2.4	-0.2	698	3994	0.00	2.15	0.00	0.000	6	0.000	0.052	2608	2225	3250
4334	-0.15	-146.0	2.4	-0.1	759	4341	0.15	2.30	0.00	0.000	4	0.158	0.079	2643	3591	3250
4596	-0.08	-146.0	2.3	-0.1	805	4603	0.00	2.15	0.00	0.000	6	0.000	0.054	2643	2231	3250
4942	-0.08	-146.0	2.4	0.2	866	4948	0.00	2.30	0.00	0.000	4	0.000	0.079	2634	3603	3251
5203	-0.13	-146.0	2.4	-0.1	912	5210	0.00	2.17	0.00	0.000	6	0.000	0.053	2634	2224	3250
5548	-0.13	-146.0	2.3	0.3	973	5555	0.00	2.30	0.00	0.000	4	0.000	0.079	2624	3592	3250
5810	-0.13	-146.0	2.4	-1.8	1019	5817	0.12	2.15	0.00	0.000	6	0.151	0.051	2656	2223	3250
6158	-0.13	-146.0	2.4	0.0	1080	6164	0.00	2.30	0.00	0.000	4	0.000	0.080	2648	3590	3250
6419	-0.19	-146.0	2.3	-0.1	1126	6426	0.00	2.15	0.00	0.000	6	0.000	0.053	2648	2228	3250
6765	-0.19	-146.0	2.4	-0.1	1187	6771	0.00	2.30	0.00	0.000	4	0.000	0.078	2638	3599	3250
7026	-0.10	-146.0	2.4	-0.2	1233	7033	0.00	2.17	0.00	0.000	6	0.000	0.052	2638	2217	3251
7371	-0.10	-146.0	2.3	-0.0	1294	7378	0.00	2.33	0.00	0.000	4	0.000	0.080	2629	3598	3250
7633	-0.15	-146.0	2.4	0.0	1340	7640	0.00	2.17	0.00	0.000	6	0.000	0.053	2629	2219	3250
7979	-0.15	-146.0	2.3	-0.0	1401	7985	0.00	2.33	0.00	0.000	4	0.000	0.079	2619	3600	3250
8240	-0.15	-146.0	2.3	-0.0	1447	8248	0.12	2.17	0.00	0.000	6	0.151	0.053	2651	2226	3250
8586	-0.15	-146.0	2.3	0.1	1508	8592	0.00	2.30	0.00	0.000	4	0.000	0.079	2642	3591	3250
8848	-0.21	-146.0	2.3	-0.1	1554	8854	0.00	2.17	0.00	0.000	6	0.000	0.052	2642	2213	3250
9193	-0.21	-146.0	2.4	-2.6	1615	9199	0.00	2.33	0.00	0.000	4	0.000	0.079	2633	3589	3250
9454	-0.21	-146.0	2.3	-0.0	1661	9461	0.00	2.17	0.00	0.000	6	0.000	0.054	2633	2213	3250
9801	-0.15	-146.0	2.4	-0.2	1722	9807	0.00	2.33	0.00	0.000	4	0.000	0.080	2623	3590	3250
10061	-0.15	-146.0	2.2	0.1	1768	10068	0.10	2.17	0.00	0.000	6	0.150	0.052	2648	2211	3250
10408	-0.06	-146.0	2.2	-0.0	1829	10415	0.00	2.35	0.00	0.000	4	0.000	0.079	2639	3600	3250
10670	-0.11	-146.0	2.3	-1.4	1875	10676	0.00	2.17	0.00	0.000	6	0.000	0.053	2639	2224	3251
11016	-0.01	-146.0	2.4	-0.1	1936	11023	0.15	2.33	0.00	0.000	4	0.163	0.079	2672	3592	3250
11279	0.06	-146.0	2.3	-0.1	1982	11285	0.00	2.17	0.00	0.000	6	0.000	0.052	2672	2213	3250
11624	0.06	-146.0	2.3	-0.0	2043	11630	0.00	2.35	0.00	0.000	4	0.000	0.078	2663	3591	3250
11885	0.13	-146.0	2.2	0.1	2089	11892	0.17	2.17	0.00	0.000	6	0.153	0.051	2710	2216	3250
12232	0.21	-146.0	2.3	0.1	2150	12238	0.00	2.35	0.00	0.000	4	0.000	0.080	2702	3597	3250
12493	0.21	-146.0	2.3	-0.0	2196	12499	0.00	2.17	0.00	0.000	6	0.000	0.053	2704	2226	3250
12839	0.31	-146.0	2.2	-0.0	2257	12846	0.15	2.35	0.00	0.000	4	0.160	0.079	2737	3599	3250
13101	0.38	-146.0	2.4	-0.0	2303	13108	0.10	2.20	0.00	0.000	6	0.170	0.053	2760	2212	3250
13448	0.38	-146.0	2.3	0.1	2364	13454	0.00	2.35	0.00	0.000	4	0.000	0.080	2752	3595	3250
13709	0.38	-146.0	2.3	-0.1	2410	13715	0.00	2.17	0.00	0.000	6	0.000	0.052	2752	2222	3250
14055	0.47	-146.0	2.3	0.0	2471	14062	0.12	2.35	0.00	0.000	4	0.169	0.078	2776	3601	3250
14317	0.47	-146.0	2.3	0.0	2517	14323	0.00	2.20	0.00	0.000	6	0.000	0.054	2775	2218	3250
14663	0.57	-146.0	2.3	-0.1	2578	14670	0.12	2.35	0.00	0.000	4	0.169	0.080	2798	3595	3250
14926	0.65	-146.0	2.3	0.2	2624	14933	0.10	2.17	0.00	0.000	6	0.173	0.052	2822	2219	3250
15274	0.65	-146.0	2.3	-0.1	2685	15280	0.00	2.35	0.00	0.000	4	0.000	0.081	2814	3601	3250
15537	0.60	-146.0	2.3	-0.0	2731	15543	0.00	2.20	0.00	0.000	6	0.000	0.054	2814	2215	3250
15882	0.60	-146.0	2.2	0.0	2792	15888	0.00	2.33	0.00	0.000	4	0.000	0.080	2804	3590	3250
16143	0.60	-146.0	2.2	0.1	2838	16150	0.00	2.17	0.00	0.000	6	0.000	0.055	2804	2228	3250
16489	0.60	-146.0	2.4	-0.1	2899	16495	0.00	2.33	0.00	0.000	4	0.000	0.079	2794	3601	3250
16504	end dive: HALF_MISSION_TIME_EXCEEDED
state	16504	begin apogee
16515	-0.31	0.0	2.4	0.2	2902	16526	0.50	0.00	7.60	0.828	2	0.066	0.000	2600	1734	3216
16526	end apogee: SURFACE_DEPTH_REACHED
state	16526	begin surface coast
16554	end surface coast: NO_VERTICAL_VELOCITY
state	16554	begin surface