Glider dive log

DavisStrait Sep08 * SG113 * Dive index * Mission links * Dive 483 * 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 483 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 25 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 24 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 -94088.531 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 -94088.531

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 25 VBD_BLEED_AD_RATE 8

C_VBD 2420 MAX_BUOY 150 R_STBD_OVSHOOT 24 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 483 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 002120,6632.209,-6003.703,0,2093.5,0,-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 -0.161,0.157

_SM_DEPTHo 5.52 KALMAN_X 59040.9,5294.7,6859.6,-144521.8,-8641.5

_SM_ANGLEo -68.4 KALMAN_Y -54561.1,-4893.0,-6339.1,-20924.6,7985.8

GPS2 002120,6632.209,-6003.703,0,2093.5,0,-37.7 MHEAD_RNG_PITCHd_Wd 352.0,34022,-12.9,-7.021

SPEED_LIMITS 0.122,0.224 D_GRID 540

Post-dive calculations and measurements:

SM_CCo 13383,173.68,0.876,3,0,145,558.30 XPDR_PINGS 3

SM_GC 3.46,10.45,0.00,0.00,0.167,0.000,0.000,174,2350,140,-10.37,0.28,559.28 _24V_AH 20.3,89.757

RAFOS_CLK 901 _10V_AH 10.4,41.131

RAFOS 0,1230451478,8.083333,8.077222,107,61,61,59,55,51,437,216,141,186,207,198 DATA_FILE_SIZE 28394,832

RAFOS_FIX 6632.946777,-6009.860352,281208,080820,2,123,0.16 CAP_FILE_SIZE 114146,0

IRIDIUM_FIX 6558.99,-6001.28,230398,030306 CFSIZE 260165632,214675456

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

HUMID 1921 SOUNDSPEED 1444.5

INTERNAL_PRESSURE 8.38899 GPS 281208,082120,6632.947,-6009.860,0,2123.0,0,-37.7

TCM_TEMP 14.80

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 258 126.46 SBE_CT 649 24 316.20

Roll_motor 121 88 217.15 SBE_O2 565 19 218.24

VBD_pump_during_apogee 499 1210 12276.21 nil 0 0 0.00

VBD_pump_during_surface 173 875 3088.12 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 168 103 351.66 nil 0 0 0.00

Iridium_during_connect 143 160 467.57 nil 0 0 0.00

Iridium_during_xfer 0 223 0.00

Transponder_ping 0 420 6.39

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 906 50 471.42

TT8 1508 19 312.57

LPSleep 9928 2 238.51

TT8_Active 810 19 167.99

TT8_Sampling 2517 39 1045.18

TT8_CF8 650 45 310.61

TT8_Kalman 33 81 28.43

Analog_circuits 1730 12 216.02

GPS_charging 0 0 0.00

Compass 1597 8 132.92

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 24 0.00 0.00 -5.43 0.000 2 0.000 0.000 165 2344 225

28 -1.08 -146.0 5.6 -0.0 1 173 8.62 2.45 -127.53 0.000 4 0.258 0.088 2200 3744 3018

316 -0.86 -146.0 28.6 -15.0 51 323 0.17 2.30 0.00 0.000 6 0.160 0.044 2247 2328 3022

663 -0.71 -146.0 73.3 -12.6 112 670 0.12 2.35 0.00 0.000 4 0.173 0.059 2280 933 3022

773 -0.66 -146.0 86.4 -11.7 131 779 0.00 2.38 0.00 0.000 6 0.000 0.055 2280 2348 3022

1114 -0.66 -146.0 121.2 -9.9 164 1115 0.00 0.00 0.00 0.000 6 0.000 0.000 2280 2348 3022

1420 -0.66 -146.0 150.2 -8.9 179 1421 0.00 0.00 0.00 0.000 6 0.000 0.000 2280 2349 3023

1729 -0.66 -146.0 173.3 -7.0 194 1734 0.00 2.47 0.00 0.000 4 0.000 0.074 2280 3753 3023

1781 -0.76 -146.0 177.4 -8.4 196 1785 0.00 2.30 0.00 0.000 6 0.000 0.041 2280 2341 3023

2103 -0.83 -146.0 205.3 -9.6 212 2108 0.10 2.38 0.00 0.000 4 0.107 0.058 2246 933 3023

2183 -0.74 -146.0 214.1 -11.1 215 2190 0.12 2.40 0.00 0.000 6 0.171 0.058 2273 2342 3023

2499 -0.80 -146.0 238.4 -7.8 231 2504 0.00 2.47 0.00 0.000 4 0.000 0.073 2274 3752 3023

2563 -0.93 -146.0 243.7 -8.1 234 2567 0.15 2.30 0.00 0.000 6 0.098 0.043 2226 2341 3023

2896 -0.84 -146.0 277.1 -10.3 250 2901 0.12 2.40 0.00 0.000 4 0.167 0.058 2257 926 3023

2969 -0.84 -146.0 284.1 -9.2 253 2973 0.00 2.40 0.00 0.000 6 0.000 0.055 2257 2343 3023

3297 -0.84 -146.0 308.8 -7.0 269 3298 0.00 0.00 0.00 0.000 6 0.000 0.000 2257 2343 3023

3607 -0.89 -146.0 328.9 -7.0 284 3608 0.00 0.00 0.00 0.000 6 0.000 0.000 2257 2344 3023

3915 -0.96 -146.0 354.1 -8.7 299 3920 0.12 2.40 0.00 0.000 4 0.101 0.058 2213 938 3022

3995 -0.84 -146.0 362.3 -10.3 302 4000 0.17 2.40 0.00 0.000 6 0.160 0.057 2255 2345 3023

4312 -0.92 -146.0 384.0 -6.5 317 4316 0.00 2.47 0.00 0.000 4 0.000 0.074 2256 3748 3022

4421 -1.05 -146.0 391.4 -6.8 322 4426 0.17 2.30 0.00 0.000 6 0.083 0.042 2196 2336 3023

4765 -0.93 -146.0 423.3 -9.6 333 4770 0.15 2.38 0.00 0.000 4 0.156 0.057 2236 937 3023

4905 -0.93 -146.0 435.6 -8.7 336 4909 0.00 2.40 0.00 0.000 6 0.000 0.055 2236 2348 3023

5225 -0.93 -146.0 461.4 -8.3 344 5229 0.00 2.47 0.00 0.000 4 0.000 0.071 2236 3756 3023

5372 -1.01 -146.0 473.9 -8.9 347 5376 0.00 2.33 0.00 0.000 6 0.000 0.041 2236 2327 3023

5692 -1.01 -146.0 498.6 -7.6 355 5693 0.00 0.00 0.00 0.000 6 0.000 0.000 2236 2327 3024

6017 -1.31 -146.0 515.7 -2.9 363 6022 0.25 2.35 0.00 0.000 4 0.083 0.054 2139 936 3024

6151 end dive: NO_VERTICAL_VELOCITY

state 6151 begin apogee

6162 -0.34 0.0 515.6 0.0 366 6295 0.70 0.00 130.10 1.210 6 0.110 0.000 2363 2526 2420

6296 end apogee: CONTROL_FINISHED_OK

state 6296 begin climb

6300 1.08 146.0 515.6 0.0 369 6468 1.08 2.78 142.40 1.100 4 0.107 0.069 2663 3932 1824

6497 0.85 146.0 505.7 8.6 373 6502 0.17 2.58 0.00 0.000 6 0.142 0.040 2623 2523 1825

6835 0.90 182.3 485.6 5.8 382 6877 0.00 2.75 33.65 1.112 4 0.000 0.069 2623 3937 1676

6900 0.90 182.3 481.4 7.2 383 6904 0.00 2.55 0.00 0.000 6 0.000 0.039 2623 2517 1677

7243 0.99 197.6 459.8 6.5 392 7264 0.12 2.65 15.02 1.065 4 0.081 0.067 2666 3933 1614

7299 0.82 197.6 454.9 9.7 393 7304 0.22 2.47 0.00 0.000 6 0.138 0.040 2610 2520 1615

7648 0.97 228.8 433.3 6.0 402 7679 0.12 0.00 28.58 1.114 6 0.077 0.000 2662 2519 1488

7973 0.97 228.8 408.9 7.4 410 7977 0.00 2.53 0.00 0.000 4 0.000 0.067 2662 3929 1490

8007 0.85 228.8 405.9 8.9 410 8014 0.17 2.38 0.00 0.000 6 0.143 0.041 2616 2507 1490

8322 1.10 284.0 388.2 5.1 423 8377 0.20 2.50 47.88 1.120 4 0.077 0.052 2693 1113 1262

8455 1.10 284.0 378.7 7.2 429 8459 0.00 2.47 0.00 0.000 6 0.000 0.051 2693 2529 1262

8782 1.06 284.0 352.4 8.5 445 8784 0.12 0.00 0.00 0.000 6 0.140 0.000 2659 2530 1261

9093 1.16 303.2 331.9 6.4 460 9116 0.10 2.42 16.95 1.068 4 0.094 0.054 2701 1110 1183

9122 1.16 303.2 329.5 7.5 461 9126 0.00 2.35 0.00 0.000 6 0.000 0.050 2701 2525 1182

9444 1.16 303.2 304.8 7.7 477 9445 0.00 0.00 0.00 0.000 6 0.000 0.000 2701 2525 1183

9753 1.16 303.2 275.7 10.1 492 9757 0.00 2.35 0.00 0.000 4 0.000 0.054 2701 1107 1183

9764 1.16 303.2 274.4 10.3 492 9768 0.00 2.33 0.00 0.000 6 0.000 0.050 2701 2534 1183

10080 1.16 303.2 246.1 8.0 507 10082 0.00 0.00 0.00 0.000 6 0.000 0.000 2701 2534 1183

10389 1.16 303.2 223.6 7.6 522 10390 0.00 0.00 0.00 0.000 6 0.000 0.000 2701 2534 1183

10699 1.17 315.4 201.5 6.6 537 10715 0.00 2.35 11.18 1.010 4 0.000 0.069 2701 3937 1134

10726 1.17 315.4 199.5 7.2 537 10730 0.00 2.28 0.00 0.000 6 0.000 0.041 2701 2517 1134

11049 1.17 315.4 173.4 8.0 553 11050 0.00 0.00 0.00 0.000 6 0.000 0.000 2701 2517 1135

11358 1.26 342.8 155.3 6.1 568 11388 0.00 2.47 23.92 1.052 4 0.000 0.070 2701 3921 1022

11412 1.26 342.8 151.2 8.1 570 11416 0.00 2.28 0.00 0.000 6 0.000 0.042 2701 2518 1021

11735 1.38 352.9 125.3 6.7 586 11750 0.12 2.28 9.65 0.956 4 0.085 0.058 2758 1116 981

11757 1.39 359.8 123.8 6.8 587 11772 0.00 2.30 7.80 0.895 6 0.000 0.051 2757 2518 953

12086 1.39 359.8 97.6 8.8 605 12092 0.00 2.33 0.00 0.000 4 0.000 0.057 2757 1110 952

12139 1.39 359.8 93.1 8.1 614 12145 0.00 2.33 0.00 0.000 6 0.000 0.052 2758 2528 951

12484 1.39 359.8 63.3 8.6 675 12490 0.00 2.38 0.00 0.000 4 0.000 0.057 2758 1108 951

12497 1.39 359.8 62.2 8.6 677 12504 0.00 2.35 0.00 0.000 6 0.000 0.052 2758 2531 951

12843 1.39 359.8 33.1 8.8 738 12849 0.00 2.38 0.00 0.000 4 0.000 0.056 2758 1116 950

12857 1.39 359.8 31.7 9.4 740 12863 0.00 2.33 0.00 0.000 6 0.000 0.052 2757 2520 950

13203 1.76 397.0 4.7 5.8 801 13244 0.20 2.45 32.53 0.999 4 0.132 0.068 2821 3924 800

13379 end climb: NO_VERTICAL_VELOCITY

state 13379 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	483	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	25	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	24	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	-94088.531	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	002120,6632.209,-6003.703,0,2093.5,0,-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	-0.161,0.157
_SM_DEPTHo	5.52	KALMAN_X	59040.9,5294.7,6859.6,-144521.8,-8641.5
_SM_ANGLEo	-68.4	KALMAN_Y	-54561.1,-4893.0,-6339.1,-20924.6,7985.8
GPS2	002120,6632.209,-6003.703,0,2093.5,0,-37.7	MHEAD_RNG_PITCHd_Wd	352.0,34022,-12.9,-7.021
SPEED_LIMITS	0.122,0.224	D_GRID	540

SM_CCo	13383,173.68,0.876,3,0,145,558.30	XPDR_PINGS	3
SM_GC	3.46,10.45,0.00,0.00,0.167,0.000,0.000,174,2350,140,-10.37,0.28,559.28	_24V_AH	20.3,89.757
RAFOS_CLK	901	_10V_AH	10.4,41.131
RAFOS	0,1230451478,8.083333,8.077222,107,61,61,59,55,51,437,216,141,186,207,198	DATA_FILE_SIZE	28394,832
RAFOS_FIX	6632.946777,-6009.860352,281208,080820,2,123,0.16	CAP_FILE_SIZE	114146,0
IRIDIUM_FIX	6558.99,-6001.28,230398,030306	CFSIZE	260165632,214675456
TT8_MAMPS	0.027612	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,5,0
HUMID	1921	SOUNDSPEED	1444.5
INTERNAL_PRESSURE	8.38899	GPS	281208,082120,6632.947,-6009.860,0,2123.0,0,-37.7
TCM_TEMP	14.80

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	258	126.46	SBE_CT	649	24	316.20
Roll_motor	121	88	217.15	SBE_O2	565	19	218.24
VBD_pump_during_apogee	499	1210	12276.21	nil	0	0	0.00
VBD_pump_during_surface	173	875	3088.12	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	168	103	351.66	nil	0	0	0.00
Iridium_during_connect	143	160	467.57	nil	0	0	0.00
Iridium_during_xfer	0	223	0.00
Transponder_ping	0	420	6.39
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	906	50	471.42
TT8	1508	19	312.57
LPSleep	9928	2	238.51
TT8_Active	810	19	167.99
TT8_Sampling	2517	39	1045.18
TT8_CF8	650	45	310.61
TT8_Kalman	33	81	28.43
Analog_circuits	1730	12	216.02
GPS_charging	0	0	0.00
Compass	1597	8	132.92
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	24	0.00	0.00	-5.43	0.000	2	0.000	0.000	165	2344	225
28	-1.08	-146.0	5.6	-0.0	1	173	8.62	2.45	-127.53	0.000	4	0.258	0.088	2200	3744	3018
316	-0.86	-146.0	28.6	-15.0	51	323	0.17	2.30	0.00	0.000	6	0.160	0.044	2247	2328	3022
663	-0.71	-146.0	73.3	-12.6	112	670	0.12	2.35	0.00	0.000	4	0.173	0.059	2280	933	3022
773	-0.66	-146.0	86.4	-11.7	131	779	0.00	2.38	0.00	0.000	6	0.000	0.055	2280	2348	3022
1114	-0.66	-146.0	121.2	-9.9	164	1115	0.00	0.00	0.00	0.000	6	0.000	0.000	2280	2348	3022
1420	-0.66	-146.0	150.2	-8.9	179	1421	0.00	0.00	0.00	0.000	6	0.000	0.000	2280	2349	3023
1729	-0.66	-146.0	173.3	-7.0	194	1734	0.00	2.47	0.00	0.000	4	0.000	0.074	2280	3753	3023
1781	-0.76	-146.0	177.4	-8.4	196	1785	0.00	2.30	0.00	0.000	6	0.000	0.041	2280	2341	3023
2103	-0.83	-146.0	205.3	-9.6	212	2108	0.10	2.38	0.00	0.000	4	0.107	0.058	2246	933	3023
2183	-0.74	-146.0	214.1	-11.1	215	2190	0.12	2.40	0.00	0.000	6	0.171	0.058	2273	2342	3023
2499	-0.80	-146.0	238.4	-7.8	231	2504	0.00	2.47	0.00	0.000	4	0.000	0.073	2274	3752	3023
2563	-0.93	-146.0	243.7	-8.1	234	2567	0.15	2.30	0.00	0.000	6	0.098	0.043	2226	2341	3023
2896	-0.84	-146.0	277.1	-10.3	250	2901	0.12	2.40	0.00	0.000	4	0.167	0.058	2257	926	3023
2969	-0.84	-146.0	284.1	-9.2	253	2973	0.00	2.40	0.00	0.000	6	0.000	0.055	2257	2343	3023
3297	-0.84	-146.0	308.8	-7.0	269	3298	0.00	0.00	0.00	0.000	6	0.000	0.000	2257	2343	3023
3607	-0.89	-146.0	328.9	-7.0	284	3608	0.00	0.00	0.00	0.000	6	0.000	0.000	2257	2344	3023
3915	-0.96	-146.0	354.1	-8.7	299	3920	0.12	2.40	0.00	0.000	4	0.101	0.058	2213	938	3022
3995	-0.84	-146.0	362.3	-10.3	302	4000	0.17	2.40	0.00	0.000	6	0.160	0.057	2255	2345	3023
4312	-0.92	-146.0	384.0	-6.5	317	4316	0.00	2.47	0.00	0.000	4	0.000	0.074	2256	3748	3022
4421	-1.05	-146.0	391.4	-6.8	322	4426	0.17	2.30	0.00	0.000	6	0.083	0.042	2196	2336	3023
4765	-0.93	-146.0	423.3	-9.6	333	4770	0.15	2.38	0.00	0.000	4	0.156	0.057	2236	937	3023
4905	-0.93	-146.0	435.6	-8.7	336	4909	0.00	2.40	0.00	0.000	6	0.000	0.055	2236	2348	3023
5225	-0.93	-146.0	461.4	-8.3	344	5229	0.00	2.47	0.00	0.000	4	0.000	0.071	2236	3756	3023
5372	-1.01	-146.0	473.9	-8.9	347	5376	0.00	2.33	0.00	0.000	6	0.000	0.041	2236	2327	3023
5692	-1.01	-146.0	498.6	-7.6	355	5693	0.00	0.00	0.00	0.000	6	0.000	0.000	2236	2327	3024
6017	-1.31	-146.0	515.7	-2.9	363	6022	0.25	2.35	0.00	0.000	4	0.083	0.054	2139	936	3024
6151	end dive: NO_VERTICAL_VELOCITY
state	6151	begin apogee
6162	-0.34	0.0	515.6	0.0	366	6295	0.70	0.00	130.10	1.210	6	0.110	0.000	2363	2526	2420
6296	end apogee: CONTROL_FINISHED_OK
state	6296	begin climb
6300	1.08	146.0	515.6	0.0	369	6468	1.08	2.78	142.40	1.100	4	0.107	0.069	2663	3932	1824
6497	0.85	146.0	505.7	8.6	373	6502	0.17	2.58	0.00	0.000	6	0.142	0.040	2623	2523	1825
6835	0.90	182.3	485.6	5.8	382	6877	0.00	2.75	33.65	1.112	4	0.000	0.069	2623	3937	1676
6900	0.90	182.3	481.4	7.2	383	6904	0.00	2.55	0.00	0.000	6	0.000	0.039	2623	2517	1677
7243	0.99	197.6	459.8	6.5	392	7264	0.12	2.65	15.02	1.065	4	0.081	0.067	2666	3933	1614
7299	0.82	197.6	454.9	9.7	393	7304	0.22	2.47	0.00	0.000	6	0.138	0.040	2610	2520	1615
7648	0.97	228.8	433.3	6.0	402	7679	0.12	0.00	28.58	1.114	6	0.077	0.000	2662	2519	1488
7973	0.97	228.8	408.9	7.4	410	7977	0.00	2.53	0.00	0.000	4	0.000	0.067	2662	3929	1490
8007	0.85	228.8	405.9	8.9	410	8014	0.17	2.38	0.00	0.000	6	0.143	0.041	2616	2507	1490
8322	1.10	284.0	388.2	5.1	423	8377	0.20	2.50	47.88	1.120	4	0.077	0.052	2693	1113	1262
8455	1.10	284.0	378.7	7.2	429	8459	0.00	2.47	0.00	0.000	6	0.000	0.051	2693	2529	1262
8782	1.06	284.0	352.4	8.5	445	8784	0.12	0.00	0.00	0.000	6	0.140	0.000	2659	2530	1261
9093	1.16	303.2	331.9	6.4	460	9116	0.10	2.42	16.95	1.068	4	0.094	0.054	2701	1110	1183
9122	1.16	303.2	329.5	7.5	461	9126	0.00	2.35	0.00	0.000	6	0.000	0.050	2701	2525	1182
9444	1.16	303.2	304.8	7.7	477	9445	0.00	0.00	0.00	0.000	6	0.000	0.000	2701	2525	1183
9753	1.16	303.2	275.7	10.1	492	9757	0.00	2.35	0.00	0.000	4	0.000	0.054	2701	1107	1183
9764	1.16	303.2	274.4	10.3	492	9768	0.00	2.33	0.00	0.000	6	0.000	0.050	2701	2534	1183
10080	1.16	303.2	246.1	8.0	507	10082	0.00	0.00	0.00	0.000	6	0.000	0.000	2701	2534	1183
10389	1.16	303.2	223.6	7.6	522	10390	0.00	0.00	0.00	0.000	6	0.000	0.000	2701	2534	1183
10699	1.17	315.4	201.5	6.6	537	10715	0.00	2.35	11.18	1.010	4	0.000	0.069	2701	3937	1134
10726	1.17	315.4	199.5	7.2	537	10730	0.00	2.28	0.00	0.000	6	0.000	0.041	2701	2517	1134
11049	1.17	315.4	173.4	8.0	553	11050	0.00	0.00	0.00	0.000	6	0.000	0.000	2701	2517	1135
11358	1.26	342.8	155.3	6.1	568	11388	0.00	2.47	23.92	1.052	4	0.000	0.070	2701	3921	1022
11412	1.26	342.8	151.2	8.1	570	11416	0.00	2.28	0.00	0.000	6	0.000	0.042	2701	2518	1021
11735	1.38	352.9	125.3	6.7	586	11750	0.12	2.28	9.65	0.956	4	0.085	0.058	2758	1116	981
11757	1.39	359.8	123.8	6.8	587	11772	0.00	2.30	7.80	0.895	6	0.000	0.051	2757	2518	953
12086	1.39	359.8	97.6	8.8	605	12092	0.00	2.33	0.00	0.000	4	0.000	0.057	2757	1110	952
12139	1.39	359.8	93.1	8.1	614	12145	0.00	2.33	0.00	0.000	6	0.000	0.052	2758	2528	951
12484	1.39	359.8	63.3	8.6	675	12490	0.00	2.38	0.00	0.000	4	0.000	0.057	2758	1108	951
12497	1.39	359.8	62.2	8.6	677	12504	0.00	2.35	0.00	0.000	6	0.000	0.052	2758	2531	951
12843	1.39	359.8	33.1	8.8	738	12849	0.00	2.38	0.00	0.000	4	0.000	0.056	2758	1116	950
12857	1.39	359.8	31.7	9.4	740	12863	0.00	2.33	0.00	0.000	6	0.000	0.052	2757	2520	950
13203	1.76	397.0	4.7	5.8	801	13244	0.20	2.45	32.53	0.999	4	0.132	0.068	2821	3924	800
13379	end climb: NO_VERTICAL_VELOCITY
state	13379	begin surface