Glider dive log

DavisStrait Sep08 * SG113 * Dive index * Mission links * Dive 13 * 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 13 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 2300 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LON -158.3 C_ROLL_CLIMB 2500 ALTIM_PULSE 3

D_ABORT 1090 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 3

D_NO_BLEED 50 SM_CC 375 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 23 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 330 UPLOAD_DIVES_MAX -1 VBD_MIN 144 DEVICE2 20

T_MISSION 396 CALL_TRIES 5 VBD_MAX 3700 DEVICE3 -1

T_ABORT 1440 CALL_WAIT 60 C_VBD 2708 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 100 T_GPS_CHARGE -22302.629 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 91.800003 XPDR_DEVICE 24

COURSE_BIAS 0 PITCH_MIN 171 AH0_10V 61.200001 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 2 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 2 PITCH_TIMEOUT 20 COMPASS_USE 0 SEABIRD_C_H 1.1390046

HD_A 0.0034169999 PITCH_AD_RATE 150 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_I -0.00057758979

HD_B 0.0095870001 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 61.200001 D_FLARE 3 PITCH_CNV 0.0046000001 SMARTS 0

AH0_24V 91.800003 D_NO_BLEED 50 PITCH_DBAND 0.1 SM_CC 375

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 100 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 330

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_GPS 15

CALL_TRIES 5 HD_A 0.0034169999 RAFOS_PEAK_OFFSET 1.5 T_GPS_ALMANAC 0

CALL_WAIT 60 HD_B 0.0095870001 RELAUNCH 1 T_GPS_CHARGE -22302.629

CAPMAXSIZE 100000 HD_C 3.1312e-05 RHO 1.02765 T_MISSION 396

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 2 ROLL_MIN 280 USE_BATHY -2

C_ROLL_CLIMB 2500 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 2300 MASS 51576 R_PORT_OVSHOOT 32 VBD_BLEED_AD_RATE 8

C_VBD 2708 MAX_BUOY 150 R_STBD_OVSHOOT 23 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 2 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 13 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 222508,6638.163,-6017.642,37,0.8,37,-37.9 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 0.000,0.000

_SM_DEPTHo 1.17 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -63.9 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 222957,6638.143,-6017.720,14,1.1,14,-37.9 MHEAD_RNG_PITCHd_Wd 331.3,19849,-18.0,-10.000

SPEED_LIMITS 0.173,0.259 D_GRID 525

Post-dive calculations and measurements:

FINISH 0.4,1.013767 XPDR_PINGS 0

SM_CCo 9533,25.92,1.068,0,0,1179,375.06 _24V_AH 21.7,9.755

SM_GC 1.57,0.00,0.00,25.92,0.000,0.000,1.068,165,2287,1179,-10.45,-0.37,375.06 _10V_AH 10.6,2.691

RAFOS_CLK 521 DATA_FILE_SIZE 37838,1007

RAFOS 0,1220745850,0.083333,0.069444,69,69,59,55,55,53,190,208,148,166,177,124 CAP_FILE_SIZE 102429,0

RAFOS_FIX 6754.670410,-5840.199707,070908,000052,4,66,23.41 CFSIZE 260165632,251084800

IRIDIUM_FIX 6609.62,-6002.54,011297,191948 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TT8_MAMPS 0.027612 SOUNDSPEED 1451.3

HUMID 1945 CURRENT 0.181,154.7,1

INTERNAL_PRESSURE 8.51595 GPS 070908,011137,6637.428,-6019.616,9,1.1,25,-37.9

TCM_TEMP 15.30

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 278 122.65 SBE_CT 779 24 405.86

Roll_motor 95 83 172.35 SBE_O2 685 19 282.48

VBD_pump_during_apogee 426 1308 12108.12 nil 0 0 0.00

VBD_pump_during_surface 25 1068 601.07 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 22 103 50.77 nil 0 0 0.00

Iridium_during_connect 39 160 138.52 nil 0 0 0.00

Iridium_during_xfer 128 223 619.98

Transponder_ping 0 420 0.00

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 16 50 8.62

TT8 1810 19 382.32

LPSleep 5444 2 133.32

TT8_Active 591 19 124.92

TT8_Sampling 1760 39 744.82

TT8_CF8 298 45 145.31

TT8_Kalman 0 0 0.00

Analog_circuits 1517 12 193.05

GPS_charging 0 0 0.00

Compass 1734 8 147.07

RAFOS 1800 1 28.62

Transponder 0 30 0.17

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

15 -1.42 -146.0 0.0 0.0 0 141 0.00 0.00 -123.62 0.000 2 0.000 0.000 161 2281 2781

143 -1.42 -146.0 3.3 -6.4 20 177 8.48 2.45 -15.05 0.000 4 0.278 0.084 2111 3708 3307

328 -1.20 -146.0 51.3 -16.4 52 336 0.25 2.25 0.00 0.000 6 0.189 0.047 2174 2299 3311

673 -1.20 -146.0 102.2 -14.4 112 676 0.00 2.25 0.00 0.000 4 0.000 0.060 2174 894 3314

857 -1.20 -146.0 129.3 -14.2 128 865 0.00 2.30 0.00 0.000 6 0.000 0.055 2174 2301 3315

1182 -1.20 -146.0 173.9 -13.7 159 1185 0.00 2.33 0.00 0.000 4 0.000 0.074 2175 3716 3314

1305 -1.27 -146.0 190.9 -13.8 170 1309 0.00 2.22 0.00 0.000 6 0.000 0.047 2175 2298 3314

1635 -1.27 -146.0 234.0 -12.7 201 1636 0.00 0.00 0.00 0.000 6 0.000 0.000 2174 2297 3314

1953 -1.27 -146.0 271.5 -11.4 231 1954 0.00 0.00 0.00 0.000 6 0.000 0.000 2174 2297 3314

2274 -1.34 -146.0 305.5 -9.8 261 2279 0.12 2.35 0.00 0.000 4 0.113 0.074 2135 3720 3313

2384 -1.34 -146.0 319.8 -13.3 270 2392 0.00 2.25 0.00 0.000 6 0.000 0.048 2135 2301 3312

2711 -1.28 -146.0 362.0 -13.3 301 2715 0.10 2.22 0.00 0.000 4 0.204 0.061 2156 894 3311

2787 -1.28 -146.0 371.8 -12.0 307 2794 0.00 2.28 0.00 0.000 6 0.000 0.059 2157 2300 3311

3112 -1.28 -146.0 409.2 -11.5 338 3115 0.00 2.30 0.00 0.000 4 0.000 0.079 2157 3708 3311

3206 -1.37 -146.0 420.3 -11.9 346 3213 0.00 2.22 0.00 0.000 6 0.000 0.048 2157 2300 3311

3532 -1.44 -146.0 457.3 -11.4 377 3537 0.12 2.22 0.00 0.000 4 0.120 0.061 2119 885 3311

3649 -1.35 -146.0 472.8 -13.2 387 3654 0.10 2.25 0.00 0.000 6 0.219 0.058 2140 2304 3311

3973 -1.35 -146.0 512.2 -11.9 417 3977 0.00 2.30 0.00 0.000 4 0.000 0.076 2139 3718 3311

4078 -1.40 -146.0 524.9 -11.5 426 4085 0.00 2.22 0.00 0.000 6 0.000 0.046 2139 2300 3311

4093 end dive: TARGET_DEPTH_EXCEEDED

state 4093 begin apogee

4097 -0.34 0.0 526.8 11.7 428 4227 0.75 0.00 125.72 1.309 6 0.174 0.000 2363 2513 2708

4228 end apogee: CONTROL_FINISHED_OK

state 4228 begin climb

4230 1.42 146.0 531.1 0.0 441 4368 1.27 2.72 130.32 1.217 4 0.120 0.073 2746 3916 2112

4623 1.01 146.0 491.9 13.7 475 4630 0.35 2.38 0.00 0.000 6 0.179 0.047 2654 2495 2109

4946 1.07 189.4 464.2 8.0 506 4991 0.00 2.62 37.12 1.213 4 0.000 0.076 2655 3907 1935

5142 0.98 189.4 444.6 10.9 523 5149 0.00 2.38 0.00 0.000 6 0.000 0.046 2654 2495 1933

5467 1.02 222.7 416.0 8.4 554 5503 0.00 2.55 28.55 1.196 4 0.000 0.075 2654 3909 1799

5541 0.97 222.7 408.7 11.0 560 5548 0.00 2.38 0.00 0.000 6 0.000 0.044 2654 2502 1800

5866 1.08 244.4 378.7 9.0 591 5892 0.00 2.55 19.27 1.161 4 0.000 0.075 2654 3912 1710

5970 1.08 244.4 367.8 10.7 600 5977 0.00 2.35 0.00 0.000 6 0.000 0.044 2654 2499 1710

6296 1.23 277.2 339.1 8.5 631 6330 0.17 2.58 27.88 1.167 4 0.094 0.074 2714 3912 1577

6397 1.07 277.2 326.4 14.6 640 6402 0.20 2.35 0.00 0.000 6 0.166 0.045 2664 2490 1576

6723 1.20 297.9 296.0 9.0 670 6748 0.12 2.50 18.17 1.127 4 0.100 0.074 2707 3913 1493

6770 1.13 297.9 290.5 12.4 674 6775 0.12 2.33 0.00 0.000 6 0.169 0.044 2677 2499 1491

7099 1.23 303.2 259.1 9.8 705 7112 0.10 2.42 6.03 0.934 4 0.106 0.074 2713 3910 1470

7124 1.23 303.2 256.3 11.5 707 7128 0.00 2.30 0.00 0.000 6 0.000 0.044 2716 2487 1471

7447 1.23 303.2 218.1 12.4 737 7451 0.00 2.42 0.00 0.000 4 0.000 0.076 2716 3919 1471

7515 1.14 303.2 209.4 13.2 743 7520 0.15 2.28 0.00 0.000 6 0.171 0.045 2679 2489 1470

7839 1.30 320.1 178.2 9.2 773 7863 0.15 2.45 15.23 1.098 4 0.095 0.076 2732 3909 1403

7868 1.30 320.1 174.8 11.5 775 7875 0.00 2.30 0.00 0.000 6 0.000 0.044 2732 2502 1402

8193 1.30 320.1 137.0 11.3 806 8197 0.00 2.38 0.00 0.000 4 0.000 0.074 2732 3917 1401

8254 1.19 320.1 129.5 12.0 811 8259 0.15 2.28 0.00 0.000 6 0.173 0.047 2694 2487 1401

8578 1.34 341.1 99.6 9.0 841 8605 0.12 2.47 18.12 1.087 4 0.100 0.075 2738 3903 1316

8611 1.34 341.1 96.2 11.1 846 8617 0.00 2.28 0.00 0.000 6 0.000 0.046 2744 2499 1316

8954 1.34 341.1 57.3 10.7 907 8960 0.00 0.00 0.00 0.000 6 0.000 0.000 2744 2499 1315

9297 1.34 341.1 20.4 11.0 968 9304 0.00 2.38 0.00 0.000 4 0.000 0.077 2743 3919 1314

9493 end climb: SURFACE_DEPTH_REACHED

state 9493 begin surface coast

9516 end surface coast: CONTROL_FINISHED_OK

state 9517 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	13	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	2300	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LON	-158.3	C_ROLL_CLIMB	2500	ALTIM_PULSE	3
D_ABORT	1090	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	3
D_NO_BLEED	50	SM_CC	375	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	23	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	330	UPLOAD_DIVES_MAX	-1	VBD_MIN	144	DEVICE2	20
T_MISSION	396	CALL_TRIES	5	VBD_MAX	3700	DEVICE3	-1
T_ABORT	1440	CALL_WAIT	60	C_VBD	2708	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	100	T_GPS_CHARGE	-22302.629	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	91.800003	XPDR_DEVICE	24
COURSE_BIAS	0	PITCH_MIN	171	AH0_10V	61.200001	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	2	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	2	PITCH_TIMEOUT	20	COMPASS_USE	0	SEABIRD_C_H	1.1390046
HD_A	0.0034169999	PITCH_AD_RATE	150	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_I	-0.00057758979
HD_B	0.0095870001	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	222508,6638.163,-6017.642,37,0.8,37,-37.9	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	0.000,0.000
_SM_DEPTHo	1.17	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-63.9	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	222957,6638.143,-6017.720,14,1.1,14,-37.9	MHEAD_RNG_PITCHd_Wd	331.3,19849,-18.0,-10.000
SPEED_LIMITS	0.173,0.259	D_GRID	525

FINISH	0.4,1.013767	XPDR_PINGS	0
SM_CCo	9533,25.92,1.068,0,0,1179,375.06	_24V_AH	21.7,9.755
SM_GC	1.57,0.00,0.00,25.92,0.000,0.000,1.068,165,2287,1179,-10.45,-0.37,375.06	_10V_AH	10.6,2.691
RAFOS_CLK	521	DATA_FILE_SIZE	37838,1007
RAFOS	0,1220745850,0.083333,0.069444,69,69,59,55,55,53,190,208,148,166,177,124	CAP_FILE_SIZE	102429,0
RAFOS_FIX	6754.670410,-5840.199707,070908,000052,4,66,23.41	CFSIZE	260165632,251084800
IRIDIUM_FIX	6609.62,-6002.54,011297,191948	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TT8_MAMPS	0.027612	SOUNDSPEED	1451.3
HUMID	1945	CURRENT	0.181,154.7,1
INTERNAL_PRESSURE	8.51595	GPS	070908,011137,6637.428,-6019.616,9,1.1,25,-37.9
TCM_TEMP	15.30

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	278	122.65	SBE_CT	779	24	405.86
Roll_motor	95	83	172.35	SBE_O2	685	19	282.48
VBD_pump_during_apogee	426	1308	12108.12	nil	0	0	0.00
VBD_pump_during_surface	25	1068	601.07	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	22	103	50.77	nil	0	0	0.00
Iridium_during_connect	39	160	138.52	nil	0	0	0.00
Iridium_during_xfer	128	223	619.98
Transponder_ping	0	420	0.00
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	16	50	8.62
TT8	1810	19	382.32
LPSleep	5444	2	133.32
TT8_Active	591	19	124.92
TT8_Sampling	1760	39	744.82
TT8_CF8	298	45	145.31
TT8_Kalman	0	0	0.00
Analog_circuits	1517	12	193.05
GPS_charging	0	0	0.00
Compass	1734	8	147.07
RAFOS	1800	1	28.62
Transponder	0	30	0.17

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
15	-1.42	-146.0	0.0	0.0	0	141	0.00	0.00	-123.62	0.000	2	0.000	0.000	161	2281	2781
143	-1.42	-146.0	3.3	-6.4	20	177	8.48	2.45	-15.05	0.000	4	0.278	0.084	2111	3708	3307
328	-1.20	-146.0	51.3	-16.4	52	336	0.25	2.25	0.00	0.000	6	0.189	0.047	2174	2299	3311
673	-1.20	-146.0	102.2	-14.4	112	676	0.00	2.25	0.00	0.000	4	0.000	0.060	2174	894	3314
857	-1.20	-146.0	129.3	-14.2	128	865	0.00	2.30	0.00	0.000	6	0.000	0.055	2174	2301	3315
1182	-1.20	-146.0	173.9	-13.7	159	1185	0.00	2.33	0.00	0.000	4	0.000	0.074	2175	3716	3314
1305	-1.27	-146.0	190.9	-13.8	170	1309	0.00	2.22	0.00	0.000	6	0.000	0.047	2175	2298	3314
1635	-1.27	-146.0	234.0	-12.7	201	1636	0.00	0.00	0.00	0.000	6	0.000	0.000	2174	2297	3314
1953	-1.27	-146.0	271.5	-11.4	231	1954	0.00	0.00	0.00	0.000	6	0.000	0.000	2174	2297	3314
2274	-1.34	-146.0	305.5	-9.8	261	2279	0.12	2.35	0.00	0.000	4	0.113	0.074	2135	3720	3313
2384	-1.34	-146.0	319.8	-13.3	270	2392	0.00	2.25	0.00	0.000	6	0.000	0.048	2135	2301	3312
2711	-1.28	-146.0	362.0	-13.3	301	2715	0.10	2.22	0.00	0.000	4	0.204	0.061	2156	894	3311
2787	-1.28	-146.0	371.8	-12.0	307	2794	0.00	2.28	0.00	0.000	6	0.000	0.059	2157	2300	3311
3112	-1.28	-146.0	409.2	-11.5	338	3115	0.00	2.30	0.00	0.000	4	0.000	0.079	2157	3708	3311
3206	-1.37	-146.0	420.3	-11.9	346	3213	0.00	2.22	0.00	0.000	6	0.000	0.048	2157	2300	3311
3532	-1.44	-146.0	457.3	-11.4	377	3537	0.12	2.22	0.00	0.000	4	0.120	0.061	2119	885	3311
3649	-1.35	-146.0	472.8	-13.2	387	3654	0.10	2.25	0.00	0.000	6	0.219	0.058	2140	2304	3311
3973	-1.35	-146.0	512.2	-11.9	417	3977	0.00	2.30	0.00	0.000	4	0.000	0.076	2139	3718	3311
4078	-1.40	-146.0	524.9	-11.5	426	4085	0.00	2.22	0.00	0.000	6	0.000	0.046	2139	2300	3311
4093	end dive: TARGET_DEPTH_EXCEEDED
state	4093	begin apogee
4097	-0.34	0.0	526.8	11.7	428	4227	0.75	0.00	125.72	1.309	6	0.174	0.000	2363	2513	2708
4228	end apogee: CONTROL_FINISHED_OK
state	4228	begin climb
4230	1.42	146.0	531.1	0.0	441	4368	1.27	2.72	130.32	1.217	4	0.120	0.073	2746	3916	2112
4623	1.01	146.0	491.9	13.7	475	4630	0.35	2.38	0.00	0.000	6	0.179	0.047	2654	2495	2109
4946	1.07	189.4	464.2	8.0	506	4991	0.00	2.62	37.12	1.213	4	0.000	0.076	2655	3907	1935
5142	0.98	189.4	444.6	10.9	523	5149	0.00	2.38	0.00	0.000	6	0.000	0.046	2654	2495	1933
5467	1.02	222.7	416.0	8.4	554	5503	0.00	2.55	28.55	1.196	4	0.000	0.075	2654	3909	1799
5541	0.97	222.7	408.7	11.0	560	5548	0.00	2.38	0.00	0.000	6	0.000	0.044	2654	2502	1800
5866	1.08	244.4	378.7	9.0	591	5892	0.00	2.55	19.27	1.161	4	0.000	0.075	2654	3912	1710
5970	1.08	244.4	367.8	10.7	600	5977	0.00	2.35	0.00	0.000	6	0.000	0.044	2654	2499	1710
6296	1.23	277.2	339.1	8.5	631	6330	0.17	2.58	27.88	1.167	4	0.094	0.074	2714	3912	1577
6397	1.07	277.2	326.4	14.6	640	6402	0.20	2.35	0.00	0.000	6	0.166	0.045	2664	2490	1576
6723	1.20	297.9	296.0	9.0	670	6748	0.12	2.50	18.17	1.127	4	0.100	0.074	2707	3913	1493
6770	1.13	297.9	290.5	12.4	674	6775	0.12	2.33	0.00	0.000	6	0.169	0.044	2677	2499	1491
7099	1.23	303.2	259.1	9.8	705	7112	0.10	2.42	6.03	0.934	4	0.106	0.074	2713	3910	1470
7124	1.23	303.2	256.3	11.5	707	7128	0.00	2.30	0.00	0.000	6	0.000	0.044	2716	2487	1471
7447	1.23	303.2	218.1	12.4	737	7451	0.00	2.42	0.00	0.000	4	0.000	0.076	2716	3919	1471
7515	1.14	303.2	209.4	13.2	743	7520	0.15	2.28	0.00	0.000	6	0.171	0.045	2679	2489	1470
7839	1.30	320.1	178.2	9.2	773	7863	0.15	2.45	15.23	1.098	4	0.095	0.076	2732	3909	1403
7868	1.30	320.1	174.8	11.5	775	7875	0.00	2.30	0.00	0.000	6	0.000	0.044	2732	2502	1402
8193	1.30	320.1	137.0	11.3	806	8197	0.00	2.38	0.00	0.000	4	0.000	0.074	2732	3917	1401
8254	1.19	320.1	129.5	12.0	811	8259	0.15	2.28	0.00	0.000	6	0.173	0.047	2694	2487	1401
8578	1.34	341.1	99.6	9.0	841	8605	0.12	2.47	18.12	1.087	4	0.100	0.075	2738	3903	1316
8611	1.34	341.1	96.2	11.1	846	8617	0.00	2.28	0.00	0.000	6	0.000	0.046	2744	2499	1316
8954	1.34	341.1	57.3	10.7	907	8960	0.00	0.00	0.00	0.000	6	0.000	0.000	2744	2499	1315
9297	1.34	341.1	20.4	11.0	968	9304	0.00	2.38	0.00	0.000	4	0.000	0.077	2743	3919	1314
9493	end climb: SURFACE_DEPTH_REACHED
state	9493	begin surface coast
9516	end surface coast: CONTROL_FINISHED_OK
state	9517	begin surface