Glider dive log

DavisStrait Sep08 * SG108 * Dive index * Mission links * Dive 123 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 108 HEADING -1 PITCH_ADJ_DBAND 1 ALTIM_TOP_TURN_MARGIN 0

MISSION 11 ESCAPE_HEADING 0 ROLL_MIN 294 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 123 ESCAPE_HEADING_DELTA 10 ROLL_MAX 3598 ALTIM_PING_DEPTH 0

D_SURF 3 FIX_MISSING_TIMEOUT 0 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 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 24 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 275 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 588 DEVICE2 20

T_MISSION 530 CALL_TRIES 5 VBD_MAX 3951 DEVICE3 -1

T_ABORT 1440 CALL_WAIT 60 C_VBD 2745 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 0.0012300001 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 -113285.01 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 350 AH0_10V 100 SIM_W 0

GLIDE_SLOPE 30 PITCH_MAX 3700 PHONE_SUPPLY 2 SIM_PITCH 0

SPEED_FACTOR 1 C_PITCH 2657 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 15.9 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 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 15.9 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 0 D_PITCH 0 PITCH_MAX 3700 SURFACE_URGENCY 0

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DELTA 0 D_SURF 3 PITCH_MIN 350 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 0.0012300001 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 3 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.0001161151 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 45 PRESSURE_YINT -22.639299 TGT_DEFAULT_LAT 47.599998

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LON -122.3

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 0.0038000001 RAFOS_PEAK_OFFSET 1.5 T_GPS_ALMANAC 0

CALL_WAIT 60 HD_B 0.0099999998 RELAUNCH 1 T_GPS_CHARGE -113285.01

CAPMAXSIZE 100000 HD_C 2.7999999e-06 RHO 1.02765 T_MISSION 530

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 275 T_TURN 225

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 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 -1

C_PITCH 2657 KALMAN_USE 1 ROLL_MIN 294 USE_BATHY -2

C_ROLL_CLIMB 1740 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 2230 MASS 51779 R_PORT_OVSHOOT 24 VBD_BLEED_AD_RATE 8

C_VBD 2745 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 1 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 123 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 155907,6639.960,-6036.093,23,1.1,23,-38.0 TGT_NAME TARGET_W_IN

_CALLS 1 TGT_LATLONG 6642.000,-6043.000

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.067,0.223

_SM_DEPTHo 2.52 KALMAN_X 37662.3,119.5,-82.3,-127228.7,779.2

_SM_ANGLEo -70.1 KALMAN_Y -53162.3,589.5,2380.4,28211.1,-4441.1

GPS2 160357,6639.959,-6036.080,11,1.8,11,-38.0 MHEAD_RNG_PITCHd_Wd 54.8,6323,-13.0,-7.021

SPEED_LIMITS 0.122,0.233 D_GRID 494

Post-dive calculations and measurements:

FINISH 1.8,1.025041 TCM_TEMP 15.20

SM_CCo 13383,0.00,0.000,0,0,1476,311.29 XPDR_PINGS 40

SM_GC 2.57,7.32,0.00,0.00,0.060,0.000,0.000,340,2237,1476,-10.57,0.20,311.29 _24V_AH 22.9,24.989

RAFOS_CLK 572 _10V_AH 10.6,11.613

RAFOS 1,1222791242,16.250000,16.233889,107,59,57,53,52,50,785,148,165,88,199,216 DATA_FILE_SIZE 28413,852

RAFOS_FIX 6640.157227,-6028.702148,300908,161628,4,107,3.29 CAP_FILE_SIZE 112098,0

IRIDIUM_FIX 6609.62,-6026.73,251297,121247 CFSIZE 260165632,244502528

TT8_MAMPS 0.026845 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

HUMID 1811 SOUNDSPEED 1447.9

INTERNAL_PRESSURE 9.85389 GPS 300908,194931,6639.631,-6033.007,37,1.1,42,-38.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 22 258 135.40 SBE_CT 596 24 327.80

Roll_motor 102 83 196.72 SBE_O2 0 0 0.00

VBD_pump_during_apogee 386 1194 10586.90 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 25 103 59.01 nil 0 0 0.00

Iridium_during_connect 33 160 123.10 nil 0 0 0.00

Iridium_during_xfer 125 223 641.73

Transponder_ping 10 420 96.18

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 12 50 6.83

TT8 1541 19 325.45

LPSleep 9747 2 238.67

TT8_Active 495 19 104.62

TT8_Sampling 1574 39 666.08

TT8_CF8 330 45 161.11

TT8_Kalman 33 81 28.98

Analog_circuits 1341 12 170.60

GPS_charging 0 0 0.00

Compass 1555 8 131.90

RAFOS 1440 1 22.90

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

13 end surface: CONTROL_FINISHED_OK

state 13 begin dive

16 -1.00 -146.0 0.0 0.0 0 58 0.00 0.00 -39.97 0.000 2 0.000 0.000 332 2242 2324

60 -1.00 -146.0 3.0 -1.4 7 120 8.60 2.40 -44.33 0.000 4 0.258 0.084 2445 811 3341

373 -0.72 -146.0 40.4 -12.3 62 380 0.22 2.35 0.00 0.000 6 0.146 0.068 2501 2234 3347

716 -0.67 -146.0 70.4 -7.6 123 722 0.00 2.22 0.00 0.000 4 0.000 0.082 2493 3599 3347

751 -0.62 -146.0 73.5 -8.8 129 758 0.12 2.22 0.00 0.000 6 0.147 0.057 2526 2208 3348

1104 -0.68 -146.0 107.5 -8.7 181 1108 0.00 2.25 0.00 0.000 4 0.000 0.071 2527 816 3349

1148 -0.68 -146.0 111.3 -8.3 183 1154 0.00 2.33 0.00 0.000 6 0.000 0.067 2518 2241 3349

1481 -0.73 -146.0 137.8 -7.9 199 1482 0.00 0.00 0.00 0.000 6 0.000 0.000 2519 2241 3349

1789 -0.79 -146.0 159.8 -7.0 214 1791 0.12 0.00 0.00 0.000 6 0.084 0.000 2466 2241 3348

2099 -0.65 -146.0 187.6 -9.0 229 2101 0.17 0.00 0.00 0.000 6 0.151 0.000 2514 2241 3348

2409 -0.73 -146.0 205.4 -5.1 244 2413 0.00 2.38 0.00 0.000 4 0.000 0.073 2514 819 3347

2470 -0.73 -146.0 208.8 -5.8 247 2474 0.00 2.33 0.00 0.000 6 0.000 0.071 2506 2231 3347

2796 -0.73 -146.0 226.2 -5.2 263 2800 0.00 2.22 0.00 0.000 4 0.000 0.084 2496 3605 3347

2845 -0.73 -146.0 229.1 -6.0 265 2849 0.00 2.25 0.00 0.000 6 0.000 0.059 2496 2221 3347

3172 -0.73 -146.0 251.9 -7.9 281 3176 0.00 2.28 0.00 0.000 4 0.000 0.074 2496 822 3347

3227 -0.73 -146.0 256.8 -8.7 283 3231 0.00 2.30 0.00 0.000 6 0.000 0.071 2486 2232 3347

3548 -0.73 -146.0 283.5 -7.8 299 3549 0.00 0.00 0.00 0.000 6 0.000 0.000 2486 2232 3346

3857 -0.73 -146.0 304.0 -6.6 314 3861 0.00 2.33 0.00 0.000 4 0.000 0.073 2486 819 3346

3952 -0.67 -146.0 311.3 -8.2 318 3956 0.12 2.30 0.00 0.000 6 0.149 0.071 2509 2232 3346

4278 -0.77 -146.0 333.3 -7.0 334 4282 0.00 2.20 0.00 0.000 4 0.000 0.084 2501 3599 3346

4333 -0.86 -146.0 337.5 -7.7 336 4338 0.12 2.17 0.00 0.000 6 0.091 0.058 2452 2226 3346

4656 -0.73 -146.0 364.9 -8.1 352 4658 0.17 0.00 0.00 0.000 6 0.150 0.000 2500 2226 3346

4964 -0.80 -146.0 384.3 -6.0 367 4966 0.00 0.00 0.00 0.000 6 0.000 0.000 2500 2226 3346

5273 -0.88 -146.0 402.8 -6.2 381 5278 0.12 2.30 0.00 0.000 4 0.087 0.071 2451 820 3346

5383 -0.73 -146.0 412.6 -9.1 383 5388 0.20 2.33 0.00 0.000 6 0.150 0.071 2497 2242 3346

5726 -0.79 -146.0 434.6 -6.2 392 5727 0.00 0.00 0.00 0.000 6 0.000 0.000 2497 2242 3346

6051 -0.87 -146.0 452.6 -5.4 400 6055 0.12 2.20 0.00 0.000 4 0.087 0.082 2437 3602 3346

6178 -0.73 -146.0 462.9 -8.7 402 6185 0.22 2.20 0.00 0.000 6 0.152 0.058 2503 2227 3346

6510 -0.83 -146.0 482.0 -5.5 411 6514 0.10 2.28 0.00 0.000 4 0.097 0.071 2460 815 3346

6676 end dive: TARGET_DEPTH_EXCEEDED

state 6676 begin apogee

6682 -0.31 0.0 494.0 7.9 414 6806 0.40 0.00 121.18 1.195 6 0.140 0.000 2583 1748 2745

6806 end apogee: CONTROL_FINISHED_OK

state 6806 begin climb

6809 1.00 146.0 497.2 0.0 417 6941 0.90 2.75 123.53 1.119 4 0.108 0.073 2882 342 2148

6963 0.77 146.0 486.7 9.3 420 6968 0.22 2.53 0.00 0.000 6 0.133 0.058 2823 1738 2145

7300 0.71 146.0 461.3 7.4 429 7301 0.00 0.00 0.00 0.000 6 0.000 0.000 2823 1738 2141

7624 0.73 163.5 439.7 6.5 437 7641 0.00 0.00 14.75 1.068 6 0.000 0.000 2823 1738 2078

7949 0.74 169.8 417.9 6.8 445 7962 0.00 2.42 6.68 0.934 4 0.000 0.073 2823 3163 2052

8002 0.63 169.8 413.7 8.3 446 8007 0.15 2.38 0.00 0.000 6 0.133 0.058 2790 1743 2051

8321 0.86 223.4 396.4 5.3 455 8370 0.17 0.00 46.42 1.104 6 0.073 0.000 2860 1742 1834

8670 0.76 223.4 365.0 9.4 472 8672 0.15 0.00 0.00 0.000 6 0.125 0.000 2817 1742 1824

8980 0.90 233.6 344.1 6.7 487 8991 0.12 0.00 8.40 0.963 6 0.081 0.000 2867 1743 1792

9289 0.82 233.6 315.1 9.5 502 9291 0.12 0.00 0.00 0.000 6 0.130 0.000 2832 1743 1790

9598 0.91 233.6 292.5 7.3 517 9600 0.10 0.00 0.00 0.000 6 0.091 0.000 2873 1742 1789

9907 0.82 233.6 263.9 9.0 532 9912 0.15 2.42 0.00 0.000 4 0.127 0.074 2837 324 1789

9934 0.88 233.6 261.7 7.2 533 9938 0.00 2.35 0.00 0.000 6 0.000 0.060 2837 1750 1789

10257 0.98 233.6 238.3 7.6 549 10261 0.12 2.30 0.00 0.000 4 0.082 0.074 2890 3163 1788

10277 0.89 233.6 236.1 9.7 550 10282 0.20 2.35 0.00 0.000 6 0.140 0.060 2843 1739 1787

10603 0.97 233.6 209.9 7.9 566 10608 0.10 2.38 0.00 0.000 4 0.089 0.075 2895 321 1787

10624 0.97 233.6 208.0 8.7 567 10629 0.12 2.33 0.00 0.000 6 0.136 0.061 2861 1742 1788

10950 0.97 233.6 181.9 7.7 583 10954 0.00 2.28 0.00 0.000 4 0.000 0.075 2860 3153 1787

10982 0.87 233.6 179.2 8.9 584 10987 0.10 2.30 0.00 0.000 6 0.146 0.061 2841 1735 1787

11303 1.00 255.3 158.2 6.3 600 11329 0.12 2.45 19.12 0.998 4 0.082 0.076 2904 326 1704

11347 0.92 255.3 154.5 8.9 602 11352 0.17 2.35 0.00 0.000 6 0.133 0.061 2853 1740 1703

11675 1.04 273.9 132.9 6.4 618 11698 0.12 2.40 16.80 0.968 4 0.082 0.075 2904 3154 1628

11714 0.89 273.9 128.9 10.0 619 11721 0.25 2.38 0.00 0.000 6 0.139 0.061 2842 1733 1626

12029 1.33 273.9 105.6 8.1 635 12034 0.30 2.38 0.00 0.000 4 0.077 0.075 2957 3162 1621

12096 0.90 273.9 97.4 14.5 638 12103 0.40 2.35 0.00 0.000 6 0.146 0.064 2849 1735 1620

12441 1.06 273.9 70.7 7.6 699 12447 0.15 0.00 0.00 0.000 6 0.076 0.000 2911 1734 1619

12784 0.99 273.9 35.6 9.0 760 12791 0.15 2.35 0.00 0.000 4 0.131 0.078 2867 3154 1619

12814 0.99 273.9 33.6 7.2 765 12820 0.00 2.30 0.00 0.000 6 0.000 0.064 2873 1736 1619

13157 1.47 308.9 15.1 5.9 826 13193 0.28 2.45 30.00 0.931 4 0.080 0.080 2990 329 1485

13288 end climb: SURFACE_DEPTH_REACHED

state 13288 begin surface coast

13305 end surface coast: CONTROL_FINISHED_OK

state 13305 begin surface

ID	108	HEADING	-1	PITCH_ADJ_DBAND	1	ALTIM_TOP_TURN_MARGIN	0
MISSION	11	ESCAPE_HEADING	0	ROLL_MIN	294	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	123	ESCAPE_HEADING_DELTA	10	ROLL_MAX	3598	ALTIM_PING_DEPTH	0
D_SURF	3	FIX_MISSING_TIMEOUT	0	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	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	24	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	275	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	588	DEVICE2	20
T_MISSION	530	CALL_TRIES	5	VBD_MAX	3951	DEVICE3	-1
T_ABORT	1440	CALL_WAIT	60	C_VBD	2745	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	0.0012300001	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	-113285.01	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	350	AH0_10V	100	SIM_W	0
GLIDE_SLOPE	30	PITCH_MAX	3700	PHONE_SUPPLY	2	SIM_PITCH	0
SPEED_FACTOR	1	C_PITCH	2657	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	15.9	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	155907,6639.960,-6036.093,23,1.1,23,-38.0	TGT_NAME	TARGET_W_IN
_CALLS	1	TGT_LATLONG	6642.000,-6043.000
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.067,0.223
_SM_DEPTHo	2.52	KALMAN_X	37662.3,119.5,-82.3,-127228.7,779.2
_SM_ANGLEo	-70.1	KALMAN_Y	-53162.3,589.5,2380.4,28211.1,-4441.1
GPS2	160357,6639.959,-6036.080,11,1.8,11,-38.0	MHEAD_RNG_PITCHd_Wd	54.8,6323,-13.0,-7.021
SPEED_LIMITS	0.122,0.233	D_GRID	494

FINISH	1.8,1.025041	TCM_TEMP	15.20
SM_CCo	13383,0.00,0.000,0,0,1476,311.29	XPDR_PINGS	40
SM_GC	2.57,7.32,0.00,0.00,0.060,0.000,0.000,340,2237,1476,-10.57,0.20,311.29	_24V_AH	22.9,24.989
RAFOS_CLK	572	_10V_AH	10.6,11.613
RAFOS	1,1222791242,16.250000,16.233889,107,59,57,53,52,50,785,148,165,88,199,216	DATA_FILE_SIZE	28413,852
RAFOS_FIX	6640.157227,-6028.702148,300908,161628,4,107,3.29	CAP_FILE_SIZE	112098,0
IRIDIUM_FIX	6609.62,-6026.73,251297,121247	CFSIZE	260165632,244502528
TT8_MAMPS	0.026845	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
HUMID	1811	SOUNDSPEED	1447.9
INTERNAL_PRESSURE	9.85389	GPS	300908,194931,6639.631,-6033.007,37,1.1,42,-38.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	22	258	135.40	SBE_CT	596	24	327.80
Roll_motor	102	83	196.72	SBE_O2	0	0	0.00
VBD_pump_during_apogee	386	1194	10586.90	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	25	103	59.01	nil	0	0	0.00
Iridium_during_connect	33	160	123.10	nil	0	0	0.00
Iridium_during_xfer	125	223	641.73
Transponder_ping	10	420	96.18
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	12	50	6.83
TT8	1541	19	325.45
LPSleep	9747	2	238.67
TT8_Active	495	19	104.62
TT8_Sampling	1574	39	666.08
TT8_CF8	330	45	161.11
TT8_Kalman	33	81	28.98
Analog_circuits	1341	12	170.60
GPS_charging	0	0	0.00
Compass	1555	8	131.90
RAFOS	1440	1	22.90
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
13	end surface: CONTROL_FINISHED_OK
state	13	begin dive
16	-1.00	-146.0	0.0	0.0	0	58	0.00	0.00	-39.97	0.000	2	0.000	0.000	332	2242	2324
60	-1.00	-146.0	3.0	-1.4	7	120	8.60	2.40	-44.33	0.000	4	0.258	0.084	2445	811	3341
373	-0.72	-146.0	40.4	-12.3	62	380	0.22	2.35	0.00	0.000	6	0.146	0.068	2501	2234	3347
716	-0.67	-146.0	70.4	-7.6	123	722	0.00	2.22	0.00	0.000	4	0.000	0.082	2493	3599	3347
751	-0.62	-146.0	73.5	-8.8	129	758	0.12	2.22	0.00	0.000	6	0.147	0.057	2526	2208	3348
1104	-0.68	-146.0	107.5	-8.7	181	1108	0.00	2.25	0.00	0.000	4	0.000	0.071	2527	816	3349
1148	-0.68	-146.0	111.3	-8.3	183	1154	0.00	2.33	0.00	0.000	6	0.000	0.067	2518	2241	3349
1481	-0.73	-146.0	137.8	-7.9	199	1482	0.00	0.00	0.00	0.000	6	0.000	0.000	2519	2241	3349
1789	-0.79	-146.0	159.8	-7.0	214	1791	0.12	0.00	0.00	0.000	6	0.084	0.000	2466	2241	3348
2099	-0.65	-146.0	187.6	-9.0	229	2101	0.17	0.00	0.00	0.000	6	0.151	0.000	2514	2241	3348
2409	-0.73	-146.0	205.4	-5.1	244	2413	0.00	2.38	0.00	0.000	4	0.000	0.073	2514	819	3347
2470	-0.73	-146.0	208.8	-5.8	247	2474	0.00	2.33	0.00	0.000	6	0.000	0.071	2506	2231	3347
2796	-0.73	-146.0	226.2	-5.2	263	2800	0.00	2.22	0.00	0.000	4	0.000	0.084	2496	3605	3347
2845	-0.73	-146.0	229.1	-6.0	265	2849	0.00	2.25	0.00	0.000	6	0.000	0.059	2496	2221	3347
3172	-0.73	-146.0	251.9	-7.9	281	3176	0.00	2.28	0.00	0.000	4	0.000	0.074	2496	822	3347
3227	-0.73	-146.0	256.8	-8.7	283	3231	0.00	2.30	0.00	0.000	6	0.000	0.071	2486	2232	3347
3548	-0.73	-146.0	283.5	-7.8	299	3549	0.00	0.00	0.00	0.000	6	0.000	0.000	2486	2232	3346
3857	-0.73	-146.0	304.0	-6.6	314	3861	0.00	2.33	0.00	0.000	4	0.000	0.073	2486	819	3346
3952	-0.67	-146.0	311.3	-8.2	318	3956	0.12	2.30	0.00	0.000	6	0.149	0.071	2509	2232	3346
4278	-0.77	-146.0	333.3	-7.0	334	4282	0.00	2.20	0.00	0.000	4	0.000	0.084	2501	3599	3346
4333	-0.86	-146.0	337.5	-7.7	336	4338	0.12	2.17	0.00	0.000	6	0.091	0.058	2452	2226	3346
4656	-0.73	-146.0	364.9	-8.1	352	4658	0.17	0.00	0.00	0.000	6	0.150	0.000	2500	2226	3346
4964	-0.80	-146.0	384.3	-6.0	367	4966	0.00	0.00	0.00	0.000	6	0.000	0.000	2500	2226	3346
5273	-0.88	-146.0	402.8	-6.2	381	5278	0.12	2.30	0.00	0.000	4	0.087	0.071	2451	820	3346
5383	-0.73	-146.0	412.6	-9.1	383	5388	0.20	2.33	0.00	0.000	6	0.150	0.071	2497	2242	3346
5726	-0.79	-146.0	434.6	-6.2	392	5727	0.00	0.00	0.00	0.000	6	0.000	0.000	2497	2242	3346
6051	-0.87	-146.0	452.6	-5.4	400	6055	0.12	2.20	0.00	0.000	4	0.087	0.082	2437	3602	3346
6178	-0.73	-146.0	462.9	-8.7	402	6185	0.22	2.20	0.00	0.000	6	0.152	0.058	2503	2227	3346
6510	-0.83	-146.0	482.0	-5.5	411	6514	0.10	2.28	0.00	0.000	4	0.097	0.071	2460	815	3346
6676	end dive: TARGET_DEPTH_EXCEEDED
state	6676	begin apogee
6682	-0.31	0.0	494.0	7.9	414	6806	0.40	0.00	121.18	1.195	6	0.140	0.000	2583	1748	2745
6806	end apogee: CONTROL_FINISHED_OK
state	6806	begin climb
6809	1.00	146.0	497.2	0.0	417	6941	0.90	2.75	123.53	1.119	4	0.108	0.073	2882	342	2148
6963	0.77	146.0	486.7	9.3	420	6968	0.22	2.53	0.00	0.000	6	0.133	0.058	2823	1738	2145
7300	0.71	146.0	461.3	7.4	429	7301	0.00	0.00	0.00	0.000	6	0.000	0.000	2823	1738	2141
7624	0.73	163.5	439.7	6.5	437	7641	0.00	0.00	14.75	1.068	6	0.000	0.000	2823	1738	2078
7949	0.74	169.8	417.9	6.8	445	7962	0.00	2.42	6.68	0.934	4	0.000	0.073	2823	3163	2052
8002	0.63	169.8	413.7	8.3	446	8007	0.15	2.38	0.00	0.000	6	0.133	0.058	2790	1743	2051
8321	0.86	223.4	396.4	5.3	455	8370	0.17	0.00	46.42	1.104	6	0.073	0.000	2860	1742	1834
8670	0.76	223.4	365.0	9.4	472	8672	0.15	0.00	0.00	0.000	6	0.125	0.000	2817	1742	1824
8980	0.90	233.6	344.1	6.7	487	8991	0.12	0.00	8.40	0.963	6	0.081	0.000	2867	1743	1792
9289	0.82	233.6	315.1	9.5	502	9291	0.12	0.00	0.00	0.000	6	0.130	0.000	2832	1743	1790
9598	0.91	233.6	292.5	7.3	517	9600	0.10	0.00	0.00	0.000	6	0.091	0.000	2873	1742	1789
9907	0.82	233.6	263.9	9.0	532	9912	0.15	2.42	0.00	0.000	4	0.127	0.074	2837	324	1789
9934	0.88	233.6	261.7	7.2	533	9938	0.00	2.35	0.00	0.000	6	0.000	0.060	2837	1750	1789
10257	0.98	233.6	238.3	7.6	549	10261	0.12	2.30	0.00	0.000	4	0.082	0.074	2890	3163	1788
10277	0.89	233.6	236.1	9.7	550	10282	0.20	2.35	0.00	0.000	6	0.140	0.060	2843	1739	1787
10603	0.97	233.6	209.9	7.9	566	10608	0.10	2.38	0.00	0.000	4	0.089	0.075	2895	321	1787
10624	0.97	233.6	208.0	8.7	567	10629	0.12	2.33	0.00	0.000	6	0.136	0.061	2861	1742	1788
10950	0.97	233.6	181.9	7.7	583	10954	0.00	2.28	0.00	0.000	4	0.000	0.075	2860	3153	1787
10982	0.87	233.6	179.2	8.9	584	10987	0.10	2.30	0.00	0.000	6	0.146	0.061	2841	1735	1787
11303	1.00	255.3	158.2	6.3	600	11329	0.12	2.45	19.12	0.998	4	0.082	0.076	2904	326	1704
11347	0.92	255.3	154.5	8.9	602	11352	0.17	2.35	0.00	0.000	6	0.133	0.061	2853	1740	1703
11675	1.04	273.9	132.9	6.4	618	11698	0.12	2.40	16.80	0.968	4	0.082	0.075	2904	3154	1628
11714	0.89	273.9	128.9	10.0	619	11721	0.25	2.38	0.00	0.000	6	0.139	0.061	2842	1733	1626
12029	1.33	273.9	105.6	8.1	635	12034	0.30	2.38	0.00	0.000	4	0.077	0.075	2957	3162	1621
12096	0.90	273.9	97.4	14.5	638	12103	0.40	2.35	0.00	0.000	6	0.146	0.064	2849	1735	1620
12441	1.06	273.9	70.7	7.6	699	12447	0.15	0.00	0.00	0.000	6	0.076	0.000	2911	1734	1619
12784	0.99	273.9	35.6	9.0	760	12791	0.15	2.35	0.00	0.000	4	0.131	0.078	2867	3154	1619
12814	0.99	273.9	33.6	7.2	765	12820	0.00	2.30	0.00	0.000	6	0.000	0.064	2873	1736	1619
13157	1.47	308.9	15.1	5.9	826	13193	0.28	2.45	30.00	0.931	4	0.080	0.080	2990	329	1485
13288	end climb: SURFACE_DEPTH_REACHED
state	13288	begin surface coast
13305	end surface coast: CONTROL_FINISHED_OK
state	13305	begin surface