Glider dive log

DavisStrait Sep08 * SG113 * Dive index * Mission links * Dive 481 * 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 481 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 32 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 25 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 -90465.023 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 -90465.023

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 32 VBD_BLEED_AD_RATE 8

C_VBD 2420 MAX_BUOY 150 R_STBD_OVSHOOT 25 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 481 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 042120,6631.249,-5957.230,0,2085.5,0,-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 -0.169,0.147

_SM_DEPTHo 1.94 KALMAN_X 44723.0,-3913.4,-4380.0,-139111.2,15891.9

_SM_ANGLEo -44.3 KALMAN_Y -41329.6,3616.5,4047.7,-25588.0,-14686.1

GPS2 042120,6631.249,-5957.230,0,2085.5,0,-37.7 MHEAD_RNG_PITCHd_Wd 348.7,38994,-12.9,-7.021

SPEED_LIMITS 0.122,0.224 D_GRID 578

Post-dive calculations and measurements:

FINISH 1.4,1.025391 TCM_TEMP 14.90

SM_CCo 12987,191.65,0.907,2,0,144,558.30 XPDR_PINGS 0

SM_GC 1.85,0.00,0.00,191.65,0.000,0.000,0.907,164,2329,144,-10.45,-0.31,558.30 _24V_AH 20.1,89.338

RAFOS_CLK 858 _10V_AH 10.4,40.913

RAFOS 0,1230422650,0.083333,0.069444,123,60,58,55,52,51,587,181,207,164,142,130 DATA_FILE_SIZE 28429,793

RAFOS_FIX 6632.208984,-6003.702637,281208,000020,2,94,0.07 CAP_FILE_SIZE 117370,0

IRIDIUM_FIX 6558.99,-6001.28,230398,030306 CFSIZE 260165632,214827008

TT8_MAMPS 0.028379 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,9,0

HUMID 1879 SOUNDSPEED 1444.5

INTERNAL_PRESSURE 8.37923 GPS 281208,002120,6632.209,-6003.703,0,2093.5,0,-37.7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 21 269 113.91 SBE_CT 620 24 299.54

Roll_motor 125 74 187.11 SBE_O2 538 19 205.70

VBD_pump_during_apogee 475 1212 11597.06 nil 0 0 0.00

VBD_pump_during_surface 191 907 3495.30 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 168 103 348.11 nil 0 0 0.00

Iridium_during_connect 144 160 464.31 nil 0 0 0.00

Iridium_during_xfer 0 223 0.00

Transponder_ping 0 420 0.00

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 906 50 471.38

TT8 1472 19 305.03

LPSleep 9164 2 220.17

TT8_Active 850 19 176.21

TT8_Sampling 2651 39 1100.74

TT8_CF8 658 45 314.29

TT8_Kalman 33 81 28.42

Analog_circuits 1832 12 228.68

GPS_charging 0 0 0.00

Compass 1725 8 143.54

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 0 181 0.00 0.00 -161.40 0.000 2 0.000 0.000 160 2343 2519

185 -1.08 -146.0 3.6 -4.8 29 215 8.88 0.00 -15.73 0.000 6 0.269 0.000 2200 2343 3018

555 -0.76 -146.0 60.6 -17.1 94 561 0.22 2.45 0.00 0.000 4 0.171 0.072 2261 3743 3021

637 -0.76 -146.0 71.8 -12.9 108 643 0.00 2.28 0.00 0.000 6 0.000 0.044 2261 2343 3021

978 -0.70 -146.0 113.6 -12.5 155 983 0.10 2.38 0.00 0.000 4 0.174 0.058 2286 930 3022

1068 -0.70 -146.0 124.0 -10.8 159 1073 0.00 2.38 0.00 0.000 6 0.000 0.055 2286 2342 3022

1391 -0.76 -146.0 152.7 -8.1 175 1395 0.00 2.45 0.00 0.000 4 0.000 0.073 2285 3748 3022

1465 -0.89 -146.0 158.9 -8.6 178 1469 0.15 2.30 0.00 0.000 6 0.088 0.044 2234 2337 3022

1786 -0.79 -146.0 192.8 -10.3 194 1791 0.12 2.38 0.00 0.000 4 0.177 0.058 2265 932 3022

1859 -0.79 -146.0 200.1 -9.1 197 1863 0.00 2.38 0.00 0.000 6 0.000 0.054 2265 2342 3022

2176 -0.79 -146.0 225.3 -7.7 212 2180 0.00 2.45 0.00 0.000 4 0.000 0.073 2263 3745 3022

2266 -0.85 -146.0 232.7 -8.0 216 2270 0.00 2.30 0.00 0.000 6 0.000 0.043 2263 2331 3022

2593 -0.85 -146.0 258.4 -7.4 232 2597 0.00 2.35 0.00 0.000 4 0.000 0.058 2263 926 3022

2695 -0.85 -146.0 266.5 -8.3 236 2700 0.00 2.40 0.00 0.000 6 0.000 0.055 2263 2346 3022

3011 -0.85 -146.0 289.9 -7.8 251 3015 0.00 2.47 0.00 0.000 4 0.000 0.073 2262 3755 3022

3086 -0.94 -146.0 296.0 -8.2 254 3090 0.12 2.30 0.00 0.000 6 0.109 0.043 2221 2333 3022

3407 -0.86 -146.0 326.4 -9.1 270 3412 0.12 2.38 0.00 0.000 4 0.167 0.058 2253 932 3022

3515 -0.86 -146.0 336.3 -9.2 275 3519 0.00 2.40 0.00 0.000 6 0.000 0.056 2253 2348 3022

3843 -0.90 -146.0 366.2 -8.8 291 3847 0.00 2.47 0.00 0.000 4 0.000 0.074 2253 3755 3022

3955 -1.01 -146.0 375.3 -7.9 296 3960 0.15 2.30 0.00 0.000 6 0.097 0.041 2204 2337 3022

4283 -0.92 -146.0 403.5 -8.5 311 4287 0.12 2.38 0.00 0.000 4 0.153 0.058 2237 931 3022

4463 -0.92 -146.0 418.4 -8.1 315 4467 0.00 2.40 0.00 0.000 6 0.000 0.055 2237 2345 3022

4788 -0.92 -146.0 440.9 -6.8 323 4793 0.00 2.47 0.00 0.000 4 0.000 0.072 2237 3751 3022

5013 -1.00 -146.0 456.8 -7.3 328 5017 0.00 2.30 0.00 0.000 6 0.000 0.041 2237 2334 3022

5339 -1.00 -146.0 479.7 -6.8 336 5340 0.00 0.00 0.00 0.000 6 0.000 0.000 2237 2334 3023

5663 -1.05 -146.0 503.2 -7.6 344 5668 0.12 2.53 0.00 0.000 4 0.104 0.069 2192 3755 3023

5749 -0.97 -146.0 511.3 -9.1 346 5754 0.15 2.30 0.00 0.000 6 0.155 0.041 2228 2335 3023

5948 end dive: NO_VERTICAL_VELOCITY

state 5948 begin apogee

5957 -0.34 0.0 513.6 0.0 351 6092 0.43 0.00 132.00 1.213 6 0.107 0.000 2367 2530 2420

6093 end apogee: CONTROL_FINISHED_OK

state 6093 begin climb

6096 1.08 146.0 513.5 0.0 354 6298 1.08 2.78 153.30 1.044 4 0.105 0.054 2665 1120 1824

6355 0.99 150.4 501.3 6.9 360 6366 0.00 2.60 5.47 0.812 6 0.000 0.051 2665 2521 1807

6674 0.88 150.4 478.4 7.4 368 6679 0.15 2.58 0.00 0.000 4 0.141 0.067 2627 3936 1808

6720 0.79 151.0 475.2 7.0 369 6725 0.00 2.42 0.00 0.000 6 0.000 0.041 2627 2522 1809

7040 0.86 200.6 458.0 5.3 377 7090 0.00 2.67 44.62 1.140 4 0.000 0.069 2627 3927 1602

7126 0.86 204.0 452.9 6.9 379 7136 0.00 2.50 5.03 0.788 6 0.000 0.040 2627 2512 1589

7451 0.94 215.2 432.4 6.6 387 7470 0.00 2.65 11.57 1.035 4 0.000 0.067 2627 3936 1542

7679 0.94 215.2 413.2 8.6 392 7683 0.00 2.35 0.00 0.000 6 0.000 0.041 2627 2512 1543

8000 1.05 222.0 390.9 6.8 403 8015 0.12 2.50 7.35 0.962 4 0.082 0.068 2678 3940 1515

8038 0.89 222.0 387.5 9.8 404 8045 0.20 2.30 0.00 0.000 6 0.141 0.041 2623 2508 1515

8356 1.02 237.6 366.9 6.5 420 8378 0.12 2.45 14.07 1.075 4 0.078 0.070 2677 3938 1451

8505 0.92 237.6 352.7 10.2 426 8510 0.17 2.25 0.00 0.000 6 0.142 0.041 2627 2516 1452

8822 1.18 237.6 329.4 7.3 441 8827 0.20 2.42 0.00 0.000 4 0.074 0.069 2708 3937 1452

8924 0.97 237.6 319.7 9.9 445 8931 0.22 2.25 0.00 0.000 6 0.137 0.042 2643 2522 1452

9241 1.16 299.4 302.9 4.9 461 9299 0.15 2.40 51.90 1.108 4 0.077 0.055 2704 1116 1199

9306 1.17 307.0 298.6 6.8 463 9322 0.00 2.42 8.10 0.894 6 0.000 0.051 2704 2534 1167

9632 1.17 307.0 273.5 8.0 479 9636 0.00 2.30 0.00 0.000 4 0.000 0.054 2704 1115 1164

9645 1.17 307.0 272.5 8.0 479 9649 0.00 2.28 0.00 0.000 6 0.000 0.051 2704 2523 1165

9966 1.17 307.0 248.5 7.4 495 9970 0.00 2.33 0.00 0.000 4 0.000 0.055 2704 1107 1164

9977 1.17 307.0 247.6 7.6 495 9981 0.00 2.30 0.00 0.000 6 0.000 0.051 2704 2521 1164

10300 1.17 307.0 221.9 8.0 511 10301 0.00 0.00 0.00 0.000 6 0.000 0.000 2704 2522 1164

10609 1.22 346.1 203.0 5.7 526 10647 0.00 0.00 32.83 1.075 6 0.000 0.000 2704 2522 1008

10958 1.27 346.1 172.6 10.9 543 10962 0.00 2.33 0.00 0.000 4 0.000 0.057 2704 1110 1006

10982 1.36 346.1 170.0 10.8 544 10987 0.10 2.30 0.00 0.000 6 0.089 0.052 2746 2526 1005

11315 1.36 346.1 134.3 9.6 560 11319 0.00 2.35 0.00 0.000 4 0.000 0.057 2746 1108 1005

11327 1.36 346.1 133.3 9.1 560 11333 0.00 2.33 0.00 0.000 6 0.000 0.051 2746 2531 1004

11643 1.36 346.1 108.9 7.5 576 11648 0.00 2.38 0.00 0.000 4 0.000 0.072 2746 3930 1003

11661 1.28 346.1 107.5 8.0 576 11668 0.12 2.25 0.00 0.000 6 0.153 0.042 2713 2520 1003

11997 1.40 356.8 84.7 6.7 622 12010 0.10 0.00 9.55 0.954 6 0.089 0.000 2758 2520 965

12349 1.40 356.8 53.9 10.2 684 12354 0.00 0.00 0.00 0.000 6 0.000 0.000 2758 2520 965

12693 1.40 356.8 23.7 8.7 745 12700 0.00 2.33 0.00 0.000 4 0.000 0.060 2758 1119 964

12707 1.40 356.8 22.4 8.8 747 12713 0.00 2.33 0.00 0.000 6 0.000 0.054 2758 2523 964

12941 end climb: SURFACE_DEPTH_REACHED

state 12942 begin surface coast

12965 end surface coast: CONTROL_FINISHED_OK

state 12965 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	481	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	32	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	25	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	-90465.023	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	042120,6631.249,-5957.230,0,2085.5,0,-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	-0.169,0.147
_SM_DEPTHo	1.94	KALMAN_X	44723.0,-3913.4,-4380.0,-139111.2,15891.9
_SM_ANGLEo	-44.3	KALMAN_Y	-41329.6,3616.5,4047.7,-25588.0,-14686.1
GPS2	042120,6631.249,-5957.230,0,2085.5,0,-37.7	MHEAD_RNG_PITCHd_Wd	348.7,38994,-12.9,-7.021
SPEED_LIMITS	0.122,0.224	D_GRID	578

FINISH	1.4,1.025391	TCM_TEMP	14.90
SM_CCo	12987,191.65,0.907,2,0,144,558.30	XPDR_PINGS	0
SM_GC	1.85,0.00,0.00,191.65,0.000,0.000,0.907,164,2329,144,-10.45,-0.31,558.30	_24V_AH	20.1,89.338
RAFOS_CLK	858	_10V_AH	10.4,40.913
RAFOS	0,1230422650,0.083333,0.069444,123,60,58,55,52,51,587,181,207,164,142,130	DATA_FILE_SIZE	28429,793
RAFOS_FIX	6632.208984,-6003.702637,281208,000020,2,94,0.07	CAP_FILE_SIZE	117370,0
IRIDIUM_FIX	6558.99,-6001.28,230398,030306	CFSIZE	260165632,214827008
TT8_MAMPS	0.028379	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,9,0
HUMID	1879	SOUNDSPEED	1444.5
INTERNAL_PRESSURE	8.37923	GPS	281208,002120,6632.209,-6003.703,0,2093.5,0,-37.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	21	269	113.91	SBE_CT	620	24	299.54
Roll_motor	125	74	187.11	SBE_O2	538	19	205.70
VBD_pump_during_apogee	475	1212	11597.06	nil	0	0	0.00
VBD_pump_during_surface	191	907	3495.30	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	168	103	348.11	nil	0	0	0.00
Iridium_during_connect	144	160	464.31	nil	0	0	0.00
Iridium_during_xfer	0	223	0.00
Transponder_ping	0	420	0.00
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	906	50	471.38
TT8	1472	19	305.03
LPSleep	9164	2	220.17
TT8_Active	850	19	176.21
TT8_Sampling	2651	39	1100.74
TT8_CF8	658	45	314.29
TT8_Kalman	33	81	28.42
Analog_circuits	1832	12	228.68
GPS_charging	0	0	0.00
Compass	1725	8	143.54
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	181	0.00	0.00	-161.40	0.000	2	0.000	0.000	160	2343	2519
185	-1.08	-146.0	3.6	-4.8	29	215	8.88	0.00	-15.73	0.000	6	0.269	0.000	2200	2343	3018
555	-0.76	-146.0	60.6	-17.1	94	561	0.22	2.45	0.00	0.000	4	0.171	0.072	2261	3743	3021
637	-0.76	-146.0	71.8	-12.9	108	643	0.00	2.28	0.00	0.000	6	0.000	0.044	2261	2343	3021
978	-0.70	-146.0	113.6	-12.5	155	983	0.10	2.38	0.00	0.000	4	0.174	0.058	2286	930	3022
1068	-0.70	-146.0	124.0	-10.8	159	1073	0.00	2.38	0.00	0.000	6	0.000	0.055	2286	2342	3022
1391	-0.76	-146.0	152.7	-8.1	175	1395	0.00	2.45	0.00	0.000	4	0.000	0.073	2285	3748	3022
1465	-0.89	-146.0	158.9	-8.6	178	1469	0.15	2.30	0.00	0.000	6	0.088	0.044	2234	2337	3022
1786	-0.79	-146.0	192.8	-10.3	194	1791	0.12	2.38	0.00	0.000	4	0.177	0.058	2265	932	3022
1859	-0.79	-146.0	200.1	-9.1	197	1863	0.00	2.38	0.00	0.000	6	0.000	0.054	2265	2342	3022
2176	-0.79	-146.0	225.3	-7.7	212	2180	0.00	2.45	0.00	0.000	4	0.000	0.073	2263	3745	3022
2266	-0.85	-146.0	232.7	-8.0	216	2270	0.00	2.30	0.00	0.000	6	0.000	0.043	2263	2331	3022
2593	-0.85	-146.0	258.4	-7.4	232	2597	0.00	2.35	0.00	0.000	4	0.000	0.058	2263	926	3022
2695	-0.85	-146.0	266.5	-8.3	236	2700	0.00	2.40	0.00	0.000	6	0.000	0.055	2263	2346	3022
3011	-0.85	-146.0	289.9	-7.8	251	3015	0.00	2.47	0.00	0.000	4	0.000	0.073	2262	3755	3022
3086	-0.94	-146.0	296.0	-8.2	254	3090	0.12	2.30	0.00	0.000	6	0.109	0.043	2221	2333	3022
3407	-0.86	-146.0	326.4	-9.1	270	3412	0.12	2.38	0.00	0.000	4	0.167	0.058	2253	932	3022
3515	-0.86	-146.0	336.3	-9.2	275	3519	0.00	2.40	0.00	0.000	6	0.000	0.056	2253	2348	3022
3843	-0.90	-146.0	366.2	-8.8	291	3847	0.00	2.47	0.00	0.000	4	0.000	0.074	2253	3755	3022
3955	-1.01	-146.0	375.3	-7.9	296	3960	0.15	2.30	0.00	0.000	6	0.097	0.041	2204	2337	3022
4283	-0.92	-146.0	403.5	-8.5	311	4287	0.12	2.38	0.00	0.000	4	0.153	0.058	2237	931	3022
4463	-0.92	-146.0	418.4	-8.1	315	4467	0.00	2.40	0.00	0.000	6	0.000	0.055	2237	2345	3022
4788	-0.92	-146.0	440.9	-6.8	323	4793	0.00	2.47	0.00	0.000	4	0.000	0.072	2237	3751	3022
5013	-1.00	-146.0	456.8	-7.3	328	5017	0.00	2.30	0.00	0.000	6	0.000	0.041	2237	2334	3022
5339	-1.00	-146.0	479.7	-6.8	336	5340	0.00	0.00	0.00	0.000	6	0.000	0.000	2237	2334	3023
5663	-1.05	-146.0	503.2	-7.6	344	5668	0.12	2.53	0.00	0.000	4	0.104	0.069	2192	3755	3023
5749	-0.97	-146.0	511.3	-9.1	346	5754	0.15	2.30	0.00	0.000	6	0.155	0.041	2228	2335	3023
5948	end dive: NO_VERTICAL_VELOCITY
state	5948	begin apogee
5957	-0.34	0.0	513.6	0.0	351	6092	0.43	0.00	132.00	1.213	6	0.107	0.000	2367	2530	2420
6093	end apogee: CONTROL_FINISHED_OK
state	6093	begin climb
6096	1.08	146.0	513.5	0.0	354	6298	1.08	2.78	153.30	1.044	4	0.105	0.054	2665	1120	1824
6355	0.99	150.4	501.3	6.9	360	6366	0.00	2.60	5.47	0.812	6	0.000	0.051	2665	2521	1807
6674	0.88	150.4	478.4	7.4	368	6679	0.15	2.58	0.00	0.000	4	0.141	0.067	2627	3936	1808
6720	0.79	151.0	475.2	7.0	369	6725	0.00	2.42	0.00	0.000	6	0.000	0.041	2627	2522	1809
7040	0.86	200.6	458.0	5.3	377	7090	0.00	2.67	44.62	1.140	4	0.000	0.069	2627	3927	1602
7126	0.86	204.0	452.9	6.9	379	7136	0.00	2.50	5.03	0.788	6	0.000	0.040	2627	2512	1589
7451	0.94	215.2	432.4	6.6	387	7470	0.00	2.65	11.57	1.035	4	0.000	0.067	2627	3936	1542
7679	0.94	215.2	413.2	8.6	392	7683	0.00	2.35	0.00	0.000	6	0.000	0.041	2627	2512	1543
8000	1.05	222.0	390.9	6.8	403	8015	0.12	2.50	7.35	0.962	4	0.082	0.068	2678	3940	1515
8038	0.89	222.0	387.5	9.8	404	8045	0.20	2.30	0.00	0.000	6	0.141	0.041	2623	2508	1515
8356	1.02	237.6	366.9	6.5	420	8378	0.12	2.45	14.07	1.075	4	0.078	0.070	2677	3938	1451
8505	0.92	237.6	352.7	10.2	426	8510	0.17	2.25	0.00	0.000	6	0.142	0.041	2627	2516	1452
8822	1.18	237.6	329.4	7.3	441	8827	0.20	2.42	0.00	0.000	4	0.074	0.069	2708	3937	1452
8924	0.97	237.6	319.7	9.9	445	8931	0.22	2.25	0.00	0.000	6	0.137	0.042	2643	2522	1452
9241	1.16	299.4	302.9	4.9	461	9299	0.15	2.40	51.90	1.108	4	0.077	0.055	2704	1116	1199
9306	1.17	307.0	298.6	6.8	463	9322	0.00	2.42	8.10	0.894	6	0.000	0.051	2704	2534	1167
9632	1.17	307.0	273.5	8.0	479	9636	0.00	2.30	0.00	0.000	4	0.000	0.054	2704	1115	1164
9645	1.17	307.0	272.5	8.0	479	9649	0.00	2.28	0.00	0.000	6	0.000	0.051	2704	2523	1165
9966	1.17	307.0	248.5	7.4	495	9970	0.00	2.33	0.00	0.000	4	0.000	0.055	2704	1107	1164
9977	1.17	307.0	247.6	7.6	495	9981	0.00	2.30	0.00	0.000	6	0.000	0.051	2704	2521	1164
10300	1.17	307.0	221.9	8.0	511	10301	0.00	0.00	0.00	0.000	6	0.000	0.000	2704	2522	1164
10609	1.22	346.1	203.0	5.7	526	10647	0.00	0.00	32.83	1.075	6	0.000	0.000	2704	2522	1008
10958	1.27	346.1	172.6	10.9	543	10962	0.00	2.33	0.00	0.000	4	0.000	0.057	2704	1110	1006
10982	1.36	346.1	170.0	10.8	544	10987	0.10	2.30	0.00	0.000	6	0.089	0.052	2746	2526	1005
11315	1.36	346.1	134.3	9.6	560	11319	0.00	2.35	0.00	0.000	4	0.000	0.057	2746	1108	1005
11327	1.36	346.1	133.3	9.1	560	11333	0.00	2.33	0.00	0.000	6	0.000	0.051	2746	2531	1004
11643	1.36	346.1	108.9	7.5	576	11648	0.00	2.38	0.00	0.000	4	0.000	0.072	2746	3930	1003
11661	1.28	346.1	107.5	8.0	576	11668	0.12	2.25	0.00	0.000	6	0.153	0.042	2713	2520	1003
11997	1.40	356.8	84.7	6.7	622	12010	0.10	0.00	9.55	0.954	6	0.089	0.000	2758	2520	965
12349	1.40	356.8	53.9	10.2	684	12354	0.00	0.00	0.00	0.000	6	0.000	0.000	2758	2520	965
12693	1.40	356.8	23.7	8.7	745	12700	0.00	2.33	0.00	0.000	4	0.000	0.060	2758	1119	964
12707	1.40	356.8	22.4	8.8	747	12713	0.00	2.33	0.00	0.000	6	0.000	0.054	2758	2523	964
12941	end climb: SURFACE_DEPTH_REACHED
state	12942	begin surface coast
12965	end surface coast: CONTROL_FINISHED_OK
state	12965	begin surface