Glider dive log

DavisStrait Sep08 * SG108 * Dive index * Mission links * Dive 528 * 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 528 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 25 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 500 CALL_NDIVES 1 R_STBD_OVSHOOT 24 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 -126385.23 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 -126385.23

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 25 VBD_BLEED_AD_RATE 8

C_VBD 2650 MAX_BUOY 150 R_STBD_OVSHOOT 24 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 528 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 042224,6630.607,-6000.817,0,3085.3,0,-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 5.09 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -4.8 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 042224,6630.607,-6000.817,0,3085.3,0,-37.3 MHEAD_RNG_PITCHd_Wd 341.6,37417,-13.0,-7.021

SPEED_LIMITS 0.122,0.233 D_GRID 543

Post-dive calculations and measurements:

FREEZE 2.36,-1.785,-1.775 TCM_TEMP 14.80

FINISH 2.4,1.026053 XPDR_PINGS 95

SM_CCo 13692,0.00,0.000,0,0,1483,286.27 _24V_AH 21.5,85.419

SM_GC 3.85,7.35,0.00,0.00,0.071,0.000,0.000,324,2228,1483,-10.71,-0.06,286.27 _10V_AH 10.4,39.228

RAFOS_CLK 628 DATA_FILE_SIZE 28398,855

RAFOS 0,1230537855,8.083333,8.070833,150,65,59,56,54,54,574,165,219,180,209,138 CAP_FILE_SIZE 116714,0

RAFOS_FIX 6630.279785,-6002.659180,291208,080840,4,117,0.10 CFSIZE 260165632,217034752

IRIDIUM_FIX 6614.97,-5735.48,170398,050547 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,0

TT8_MAMPS 0.026845 SOUNDSPEED 1444.5

HUMID 1826 GPS 291208,082640,6630.280,-6002.659,0,4117.2,0,-37.3

INTERNAL_PRESSURE 9.8246

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 15 151 49.30 SBE_CT 600 24 309.79

Roll_motor 112 80 194.97 SBE_O2 0 0 0.00

VBD_pump_during_apogee 386 1176 9780.23 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 23 420 214.46

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 0 50 0.00

TT8 1663 19 344.72

LPSleep 9633 2 231.44

TT8_Active 432 19 89.58

TT8_Sampling 1766 39 733.48

TT8_CF8 266 45 127.16

TT8_Kalman 0 0 0.00

Analog_circuits 1378 12 172.02

GPS_charging 0 0 0.00

Compass 1746 8 145.34

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

17 -0.99 -146.0 0.0 0.0 0 24 0.00 0.00 -5.43 0.000 2 0.000 0.000 2702 1745 2472

28 -0.99 -146.0 4.0 -0.0 1 64 0.65 0.00 -32.60 0.000 6 0.056 0.000 2441 1745 3247

404 -0.71 -146.0 50.2 -13.9 67 411 0.28 3.08 0.00 0.000 4 0.146 0.077 2513 3604 3253

666 -0.71 -146.0 76.6 -9.6 113 672 0.00 2.20 0.00 0.000 6 0.000 0.054 2514 2214 3254

1005 -0.71 -146.0 105.1 -8.2 165 1009 0.00 2.33 0.00 0.000 4 0.000 0.077 2506 3601 3254

1174 -0.71 -146.0 120.5 -9.5 172 1178 0.00 2.20 0.00 0.000 6 0.000 0.054 2506 2212 3254

1496 -0.71 -146.0 147.9 -8.2 188 1497 0.00 0.00 0.00 0.000 6 0.000 0.000 2506 2211 3254

1805 -0.71 -146.0 174.5 -8.0 203 1809 0.00 2.33 0.00 0.000 4 0.000 0.079 2496 3594 3254

1896 -0.71 -146.0 181.5 -8.2 207 1901 0.12 2.17 0.00 0.000 6 0.151 0.054 2527 2220 3254

2229 -0.81 -146.0 201.6 -6.1 223 2234 0.10 2.25 0.00 0.000 4 0.098 0.066 2486 824 3254

2299 -0.73 -146.0 207.2 -8.4 226 2304 0.17 2.33 0.00 0.000 6 0.137 0.067 2522 2227 3253

2627 -0.82 -146.0 231.5 -7.4 242 2630 0.00 2.28 0.00 0.000 4 0.000 0.081 2514 3604 3254

2695 -0.95 -146.0 236.9 -7.7 245 2700 0.15 2.20 0.00 0.000 6 0.082 0.054 2451 2213 3253

3029 -0.80 -146.0 270.9 -10.4 261 3033 0.20 2.25 0.00 0.000 4 0.143 0.067 2513 824 3253

3177 -0.85 -146.0 282.8 -7.2 267 3181 0.00 2.35 0.00 0.000 6 0.000 0.067 2506 2244 3253

3501 -0.91 -146.0 303.5 -5.7 283 3505 0.10 2.25 0.00 0.000 4 0.095 0.080 2451 3604 3253

3579 -0.78 -146.0 309.7 -8.3 286 3584 0.22 2.20 0.00 0.000 6 0.150 0.054 2512 2214 3253

3902 -0.87 -146.0 327.0 -5.2 302 3904 0.10 0.00 0.00 0.000 6 0.098 0.000 2471 2214 3253

4212 -0.87 -146.0 345.5 -5.8 317 4215 0.00 2.25 0.00 0.000 4 0.000 0.067 2471 818 3253

4438 -0.81 -146.0 360.2 -6.6 327 4443 0.15 2.35 0.00 0.000 6 0.137 0.067 2502 2236 3253

4765 -0.91 -146.0 379.4 -7.0 343 4769 0.00 2.25 0.00 0.000 4 0.000 0.079 2493 3597 3253

4834 -1.04 -146.0 384.8 -7.7 346 4839 0.15 2.17 0.00 0.000 6 0.082 0.053 2433 2221 3253

5167 -0.89 -146.0 415.4 -9.2 358 5172 0.20 2.28 0.00 0.000 4 0.140 0.064 2500 812 3253

5353 -0.96 -146.0 429.7 -7.4 362 5357 0.00 2.35 0.00 0.000 6 0.000 0.064 2492 2234 3253

5673 -1.04 -146.0 450.9 -6.4 370 5677 0.12 2.25 0.00 0.000 4 0.084 0.077 2428 3598 3253

5734 -0.89 -146.0 456.0 -8.6 371 5739 0.20 2.17 0.00 0.000 6 0.148 0.051 2487 2216 3253

6049 -0.96 -146.0 473.9 -5.4 379 6050 0.00 0.00 0.00 0.000 6 0.000 0.000 2487 2215 3254

6373 -1.04 -146.0 491.0 -5.3 387 6375 0.12 0.00 0.00 0.000 6 0.091 0.000 2437 2216 3254

6698 -1.04 -146.0 511.7 -6.1 395 6701 0.00 2.33 0.00 0.000 4 0.000 0.074 2428 3597 3255

6835 end dive: NO_VERTICAL_VELOCITY

state 6835 begin apogee

6846 -0.31 0.0 511.7 0.0 398 6977 0.55 0.00 127.85 1.177 6 0.102 0.000 2615 1731 2650

6978 end apogee: CONTROL_FINISHED_OK

state 6978 begin climb

6982 0.99 146.0 511.6 0.0 401 7124 0.88 2.65 133.48 1.096 4 0.100 0.064 2903 332 2053

7300 0.80 146.0 484.2 9.7 408 7305 0.20 2.45 0.00 0.000 6 0.140 0.054 2850 1753 2051

7650 0.81 150.9 459.8 6.9 417 7660 0.00 2.42 4.12 0.716 4 0.000 0.065 2858 330 2035

7762 0.81 150.9 451.0 7.9 419 7766 0.00 2.33 0.00 0.000 6 0.000 0.056 2858 1749 2038

8105 0.76 150.9 422.9 8.3 428 8109 0.00 2.28 0.00 0.000 4 0.000 0.069 2858 3161 2037

8128 0.65 150.9 420.8 9.0 428 8133 0.17 2.28 0.00 0.000 6 0.135 0.051 2818 1725 2036

8472 0.81 184.2 399.1 6.0 437 8507 0.12 0.00 30.38 1.077 6 0.074 0.000 2875 1725 1899

8828 0.74 184.2 370.6 7.9 454 8829 0.12 0.00 0.00 0.000 6 0.125 0.000 2840 1725 1897

9134 0.90 229.0 352.7 5.6 469 9181 0.12 2.47 39.40 1.056 4 0.077 0.067 2896 3157 1716

9193 0.75 229.0 347.7 8.9 471 9199 0.22 2.33 0.00 0.000 6 0.133 0.050 2842 1726 1714

9510 0.95 276.1 328.9 5.5 487 9558 0.15 2.35 42.47 1.035 4 0.071 0.063 2923 327 1523

9571 0.85 276.1 323.3 9.9 490 9576 0.22 2.38 0.00 0.000 6 0.130 0.054 2858 1749 1524

9901 1.01 276.1 297.5 8.2 506 9906 0.15 2.30 0.00 0.000 4 0.071 0.067 2927 3158 1517

9929 0.87 276.1 294.2 11.8 507 9934 0.25 2.28 0.00 0.000 6 0.138 0.052 2865 1734 1516

10250 1.02 276.1 266.8 7.9 523 10252 0.12 0.00 0.00 0.000 6 0.077 0.000 2926 1734 1514

10562 0.92 276.1 235.0 10.1 538 10566 0.17 2.30 0.00 0.000 4 0.132 0.066 2883 324 1514

10584 0.92 276.1 232.7 9.1 539 10588 0.00 2.30 0.00 0.000 6 0.000 0.054 2883 1743 1514

10912 1.03 276.1 207.2 7.5 555 10913 0.00 0.00 0.00 0.000 6 0.000 0.000 2883 1743 1512

11222 1.15 276.1 184.4 7.6 570 11227 0.15 2.30 0.00 0.000 4 0.073 0.071 2951 3158 1512

11262 0.88 276.1 179.6 13.4 572 11267 0.32 2.28 0.00 0.000 6 0.138 0.054 2867 1728 1511

11592 1.32 276.1 154.4 8.0 588 11597 0.28 2.28 0.00 0.000 4 0.081 0.067 2972 330 1511

11643 1.32 276.1 149.6 9.3 590 11647 0.00 2.30 0.00 0.000 6 0.000 0.057 2971 1748 1511

11966 1.14 276.1 112.1 11.9 606 11971 0.17 2.30 0.00 0.000 4 0.144 0.071 2921 3162 1511

12007 1.06 276.1 107.9 9.6 608 12011 0.00 2.28 0.00 0.000 6 0.000 0.055 2929 1732 1510

12344 1.07 282.9 82.0 6.8 654 12356 0.00 2.33 4.45 0.705 4 0.000 0.071 2939 334 1496

12369 1.07 285.6 80.1 6.9 658 12382 0.12 2.28 4.47 0.699 6 0.130 0.055 2904 1743 1485

12725 1.20 286.2 57.7 7.0 720 12732 0.12 2.30 0.00 0.000 4 0.077 0.072 2961 3156 1485

12755 1.20 286.2 54.1 9.5 725 12762 0.12 2.28 0.00 0.000 6 0.151 0.055 2939 1731 1485

13102 1.20 286.2 25.3 9.9 786 13107 0.00 0.00 0.00 0.000 6 0.000 0.000 2939 1731 1485

13416 end climb: SURFACE_DEPTH_REACHED

state 13416 begin surface coast

13490 end surface coast: CONTROL_FINISHED_OK

state 13491 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	528	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	25	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	500	CALL_NDIVES	1	R_STBD_OVSHOOT	24	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	-126385.23	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	042224,6630.607,-6000.817,0,3085.3,0,-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	5.09	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-4.8	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	042224,6630.607,-6000.817,0,3085.3,0,-37.3	MHEAD_RNG_PITCHd_Wd	341.6,37417,-13.0,-7.021
SPEED_LIMITS	0.122,0.233	D_GRID	543

FREEZE	2.36,-1.785,-1.775	TCM_TEMP	14.80
FINISH	2.4,1.026053	XPDR_PINGS	95
SM_CCo	13692,0.00,0.000,0,0,1483,286.27	_24V_AH	21.5,85.419
SM_GC	3.85,7.35,0.00,0.00,0.071,0.000,0.000,324,2228,1483,-10.71,-0.06,286.27	_10V_AH	10.4,39.228
RAFOS_CLK	628	DATA_FILE_SIZE	28398,855
RAFOS	0,1230537855,8.083333,8.070833,150,65,59,56,54,54,574,165,219,180,209,138	CAP_FILE_SIZE	116714,0
RAFOS_FIX	6630.279785,-6002.659180,291208,080840,4,117,0.10	CFSIZE	260165632,217034752
IRIDIUM_FIX	6614.97,-5735.48,170398,050547	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
TT8_MAMPS	0.026845	SOUNDSPEED	1444.5
HUMID	1826	GPS	291208,082640,6630.280,-6002.659,0,4117.2,0,-37.3
INTERNAL_PRESSURE	9.8246

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	15	151	49.30	SBE_CT	600	24	309.79
Roll_motor	112	80	194.97	SBE_O2	0	0	0.00
VBD_pump_during_apogee	386	1176	9780.23	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	23	420	214.46
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	0	50	0.00
TT8	1663	19	344.72
LPSleep	9633	2	231.44
TT8_Active	432	19	89.58
TT8_Sampling	1766	39	733.48
TT8_CF8	266	45	127.16
TT8_Kalman	0	0	0.00
Analog_circuits	1378	12	172.02
GPS_charging	0	0	0.00
Compass	1746	8	145.34
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
17	-0.99	-146.0	0.0	0.0	0	24	0.00	0.00	-5.43	0.000	2	0.000	0.000	2702	1745	2472
28	-0.99	-146.0	4.0	-0.0	1	64	0.65	0.00	-32.60	0.000	6	0.056	0.000	2441	1745	3247
404	-0.71	-146.0	50.2	-13.9	67	411	0.28	3.08	0.00	0.000	4	0.146	0.077	2513	3604	3253
666	-0.71	-146.0	76.6	-9.6	113	672	0.00	2.20	0.00	0.000	6	0.000	0.054	2514	2214	3254
1005	-0.71	-146.0	105.1	-8.2	165	1009	0.00	2.33	0.00	0.000	4	0.000	0.077	2506	3601	3254
1174	-0.71	-146.0	120.5	-9.5	172	1178	0.00	2.20	0.00	0.000	6	0.000	0.054	2506	2212	3254
1496	-0.71	-146.0	147.9	-8.2	188	1497	0.00	0.00	0.00	0.000	6	0.000	0.000	2506	2211	3254
1805	-0.71	-146.0	174.5	-8.0	203	1809	0.00	2.33	0.00	0.000	4	0.000	0.079	2496	3594	3254
1896	-0.71	-146.0	181.5	-8.2	207	1901	0.12	2.17	0.00	0.000	6	0.151	0.054	2527	2220	3254
2229	-0.81	-146.0	201.6	-6.1	223	2234	0.10	2.25	0.00	0.000	4	0.098	0.066	2486	824	3254
2299	-0.73	-146.0	207.2	-8.4	226	2304	0.17	2.33	0.00	0.000	6	0.137	0.067	2522	2227	3253
2627	-0.82	-146.0	231.5	-7.4	242	2630	0.00	2.28	0.00	0.000	4	0.000	0.081	2514	3604	3254
2695	-0.95	-146.0	236.9	-7.7	245	2700	0.15	2.20	0.00	0.000	6	0.082	0.054	2451	2213	3253
3029	-0.80	-146.0	270.9	-10.4	261	3033	0.20	2.25	0.00	0.000	4	0.143	0.067	2513	824	3253
3177	-0.85	-146.0	282.8	-7.2	267	3181	0.00	2.35	0.00	0.000	6	0.000	0.067	2506	2244	3253
3501	-0.91	-146.0	303.5	-5.7	283	3505	0.10	2.25	0.00	0.000	4	0.095	0.080	2451	3604	3253
3579	-0.78	-146.0	309.7	-8.3	286	3584	0.22	2.20	0.00	0.000	6	0.150	0.054	2512	2214	3253
3902	-0.87	-146.0	327.0	-5.2	302	3904	0.10	0.00	0.00	0.000	6	0.098	0.000	2471	2214	3253
4212	-0.87	-146.0	345.5	-5.8	317	4215	0.00	2.25	0.00	0.000	4	0.000	0.067	2471	818	3253
4438	-0.81	-146.0	360.2	-6.6	327	4443	0.15	2.35	0.00	0.000	6	0.137	0.067	2502	2236	3253
4765	-0.91	-146.0	379.4	-7.0	343	4769	0.00	2.25	0.00	0.000	4	0.000	0.079	2493	3597	3253
4834	-1.04	-146.0	384.8	-7.7	346	4839	0.15	2.17	0.00	0.000	6	0.082	0.053	2433	2221	3253
5167	-0.89	-146.0	415.4	-9.2	358	5172	0.20	2.28	0.00	0.000	4	0.140	0.064	2500	812	3253
5353	-0.96	-146.0	429.7	-7.4	362	5357	0.00	2.35	0.00	0.000	6	0.000	0.064	2492	2234	3253
5673	-1.04	-146.0	450.9	-6.4	370	5677	0.12	2.25	0.00	0.000	4	0.084	0.077	2428	3598	3253
5734	-0.89	-146.0	456.0	-8.6	371	5739	0.20	2.17	0.00	0.000	6	0.148	0.051	2487	2216	3253
6049	-0.96	-146.0	473.9	-5.4	379	6050	0.00	0.00	0.00	0.000	6	0.000	0.000	2487	2215	3254
6373	-1.04	-146.0	491.0	-5.3	387	6375	0.12	0.00	0.00	0.000	6	0.091	0.000	2437	2216	3254
6698	-1.04	-146.0	511.7	-6.1	395	6701	0.00	2.33	0.00	0.000	4	0.000	0.074	2428	3597	3255
6835	end dive: NO_VERTICAL_VELOCITY
state	6835	begin apogee
6846	-0.31	0.0	511.7	0.0	398	6977	0.55	0.00	127.85	1.177	6	0.102	0.000	2615	1731	2650
6978	end apogee: CONTROL_FINISHED_OK
state	6978	begin climb
6982	0.99	146.0	511.6	0.0	401	7124	0.88	2.65	133.48	1.096	4	0.100	0.064	2903	332	2053
7300	0.80	146.0	484.2	9.7	408	7305	0.20	2.45	0.00	0.000	6	0.140	0.054	2850	1753	2051
7650	0.81	150.9	459.8	6.9	417	7660	0.00	2.42	4.12	0.716	4	0.000	0.065	2858	330	2035
7762	0.81	150.9	451.0	7.9	419	7766	0.00	2.33	0.00	0.000	6	0.000	0.056	2858	1749	2038
8105	0.76	150.9	422.9	8.3	428	8109	0.00	2.28	0.00	0.000	4	0.000	0.069	2858	3161	2037
8128	0.65	150.9	420.8	9.0	428	8133	0.17	2.28	0.00	0.000	6	0.135	0.051	2818	1725	2036
8472	0.81	184.2	399.1	6.0	437	8507	0.12	0.00	30.38	1.077	6	0.074	0.000	2875	1725	1899
8828	0.74	184.2	370.6	7.9	454	8829	0.12	0.00	0.00	0.000	6	0.125	0.000	2840	1725	1897
9134	0.90	229.0	352.7	5.6	469	9181	0.12	2.47	39.40	1.056	4	0.077	0.067	2896	3157	1716
9193	0.75	229.0	347.7	8.9	471	9199	0.22	2.33	0.00	0.000	6	0.133	0.050	2842	1726	1714
9510	0.95	276.1	328.9	5.5	487	9558	0.15	2.35	42.47	1.035	4	0.071	0.063	2923	327	1523
9571	0.85	276.1	323.3	9.9	490	9576	0.22	2.38	0.00	0.000	6	0.130	0.054	2858	1749	1524
9901	1.01	276.1	297.5	8.2	506	9906	0.15	2.30	0.00	0.000	4	0.071	0.067	2927	3158	1517
9929	0.87	276.1	294.2	11.8	507	9934	0.25	2.28	0.00	0.000	6	0.138	0.052	2865	1734	1516
10250	1.02	276.1	266.8	7.9	523	10252	0.12	0.00	0.00	0.000	6	0.077	0.000	2926	1734	1514
10562	0.92	276.1	235.0	10.1	538	10566	0.17	2.30	0.00	0.000	4	0.132	0.066	2883	324	1514
10584	0.92	276.1	232.7	9.1	539	10588	0.00	2.30	0.00	0.000	6	0.000	0.054	2883	1743	1514
10912	1.03	276.1	207.2	7.5	555	10913	0.00	0.00	0.00	0.000	6	0.000	0.000	2883	1743	1512
11222	1.15	276.1	184.4	7.6	570	11227	0.15	2.30	0.00	0.000	4	0.073	0.071	2951	3158	1512
11262	0.88	276.1	179.6	13.4	572	11267	0.32	2.28	0.00	0.000	6	0.138	0.054	2867	1728	1511
11592	1.32	276.1	154.4	8.0	588	11597	0.28	2.28	0.00	0.000	4	0.081	0.067	2972	330	1511
11643	1.32	276.1	149.6	9.3	590	11647	0.00	2.30	0.00	0.000	6	0.000	0.057	2971	1748	1511
11966	1.14	276.1	112.1	11.9	606	11971	0.17	2.30	0.00	0.000	4	0.144	0.071	2921	3162	1511
12007	1.06	276.1	107.9	9.6	608	12011	0.00	2.28	0.00	0.000	6	0.000	0.055	2929	1732	1510
12344	1.07	282.9	82.0	6.8	654	12356	0.00	2.33	4.45	0.705	4	0.000	0.071	2939	334	1496
12369	1.07	285.6	80.1	6.9	658	12382	0.12	2.28	4.47	0.699	6	0.130	0.055	2904	1743	1485
12725	1.20	286.2	57.7	7.0	720	12732	0.12	2.30	0.00	0.000	4	0.077	0.072	2961	3156	1485
12755	1.20	286.2	54.1	9.5	725	12762	0.12	2.28	0.00	0.000	6	0.151	0.055	2939	1731	1485
13102	1.20	286.2	25.3	9.9	786	13107	0.00	0.00	0.00	0.000	6	0.000	0.000	2939	1731	1485
13416	end climb: SURFACE_DEPTH_REACHED
state	13416	begin surface coast
13490	end surface coast: CONTROL_FINISHED_OK
state	13491	begin surface