Glider dive log

DavisStrait Sep08 * SG108 * Dive index * Mission links * Dive 14 * 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 14 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 2200 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LON -122.3 C_ROLL_CLIMB 1800 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 27 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 330 UPLOAD_DIVES_MAX -1 VBD_MIN 588 DEVICE2 20

T_MISSION 396 CALL_TRIES 5 VBD_MAX 3951 DEVICE3 -1

T_ABORT 1440 CALL_WAIT 60 C_VBD 2959 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 -111453.55 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 2 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 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 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 375

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 330

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 -111453.55

CAPMAXSIZE 100000 HD_C 2.7999999e-06 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 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 2 ROLL_MIN 294 USE_BATHY -2

C_ROLL_CLIMB 1800 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 2200 MASS 51779 R_PORT_OVSHOOT 27 VBD_BLEED_AD_RATE 8

C_VBD 2959 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 2 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 14 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 010837,6642.360,-6021.902,12,1.0,28,-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 0.000,0.000

_SM_DEPTHo 2.13 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -72.6 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 011244,6642.342,-6021.788,10,1.1,10,-38.0 MHEAD_RNG_PITCHd_Wd 350.7,15552,-18.1,-10.000

SPEED_LIMITS 0.173,0.263 D_GRID 527

Post-dive calculations and measurements:

FINISH 1.2,1.024928 XPDR_PINGS 110

SM_CCo 9720,46.20,0.907,0,0,1429,375.06 _24V_AH 23.4,7.641

SM_GC 2.18,0.00,0.00,46.20,0.000,0.000,0.907,341,2211,1429,-10.65,0.31,375.06 _10V_AH 10.5,2.788

RAFOS_CLK 358 DATA_FILE_SIZE 34632,1044

RAFOS_FIX 0.000000,0.000000,010170,000000,0,0,0.00 CAP_FILE_SIZE 97729,0

IRIDIUM_FIX 6614.97,-6021.37,011297,222210 CFSIZE 260165632,252313600

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

HUMID 1832 SOUNDSPEED 1452.1

INTERNAL_PRESSURE 9.87343 CURRENT 0.138,152.3,1

TCM_TEMP 15.40 GPS 070908,035707,6642.807,-6023.254,31,1.0,35,-38.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 19 263 117.58 SBE_CT 732 24 411.52

Roll_motor 90 96 205.28 SBE_O2 3777 19 1679.68

VBD_pump_during_apogee 388 1200 10905.29 nil 0 0 0.00

VBD_pump_during_surface 46 907 980.93 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 24 103 58.28 nil 0 0 0.00

Iridium_during_connect 35 160 133.89 nil 0 0 0.00

Iridium_during_xfer 100 223 525.37

Transponder_ping 27 420 270.27

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 12 50 6.62

TT8 1846 19 386.28

LPSleep 3452 2 83.74

TT8_Active 452 19 94.63

TT8_Sampling 4005 39 1678.80

TT8_CF8 262 45 126.69

TT8_Kalman 0 0 0.00

Analog_circuits 1466 12 184.77

GPS_charging 0 0 0.00

Compass 1699 8 142.73

RAFOS 0 1 0.00

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

12 end surface: CONTROL_FINISHED_OK

state 12 begin dive

14 -1.32 -146.0 0.0 0.0 0 80 0.00 0.00 -63.53 0.000 2 0.000 0.000 341 2203 2805

82 -1.32 -146.0 3.2 -2.3 7 117 8.48 2.33 -18.17 0.000 4 0.263 0.094 2353 3608 3558

167 -1.07 -146.0 24.1 -19.9 20 176 0.20 2.33 0.00 0.000 6 0.166 0.057 2422 2189 3561

496 -1.07 -146.0 71.8 -14.0 81 504 0.00 2.33 0.00 0.000 4 0.000 0.071 2426 796 3563

565 -1.07 -146.0 81.5 -13.8 93 573 0.00 2.38 0.00 0.000 6 0.000 0.067 2418 2203 3564

893 -1.07 -146.0 126.0 -13.2 136 897 0.00 2.28 0.00 0.000 4 0.000 0.081 2407 3598 3564

1105 -1.07 -146.0 155.3 -14.0 155 1114 0.00 2.25 0.00 0.000 6 0.000 0.057 2407 2195 3564

1432 -1.07 -146.0 197.4 -13.4 186 1434 0.00 0.00 0.00 0.000 6 0.000 0.000 2407 2195 3563

1750 -1.07 -146.0 239.3 -12.9 216 1754 0.00 2.33 0.00 0.000 4 0.000 0.082 2397 3600 3562

1839 -1.07 -146.0 251.1 -13.6 224 1844 0.12 2.22 0.00 0.000 6 0.163 0.058 2429 2189 3562

2171 -1.18 -146.0 287.2 -10.6 255 2176 0.12 2.28 0.00 0.000 4 0.093 0.071 2381 784 3562

2239 -1.13 -146.0 296.0 -13.3 261 2244 0.15 2.33 0.00 0.000 6 0.161 0.069 2412 2204 3562

2571 -1.19 -146.0 333.8 -11.2 292 2575 0.00 2.25 0.00 0.000 4 0.000 0.097 2403 3596 3562

2750 -1.25 -146.0 355.9 -12.1 308 2759 0.00 2.22 0.00 0.000 6 0.000 0.058 2403 2195 3562

3077 -1.25 -146.0 392.3 -11.2 339 3079 0.00 0.00 0.00 0.000 6 0.000 0.000 2403 2195 3562

3396 -1.29 -146.0 428.3 -11.6 369 3400 0.10 2.30 0.00 0.000 4 0.099 0.081 2353 3602 3561

3540 -1.21 -146.0 448.6 -14.6 382 3544 0.15 2.20 0.00 0.000 6 0.171 0.058 2392 2191 3561

3870 -1.21 -146.0 487.1 -11.3 413 3871 0.00 0.00 0.00 0.000 6 0.000 0.000 2392 2191 3562

4189 -1.21 -146.0 523.8 -11.8 443 4193 0.00 2.30 0.00 0.000 4 0.000 0.081 2383 3598 3562

4213 end dive: TARGET_DEPTH_EXCEEDED

state 4213 begin apogee

4220 -0.31 0.0 527.3 12.4 445 4350 0.62 0.00 120.70 1.200 6 0.146 0.000 2583 1789 2958

4351 end apogee: CONTROL_FINISHED_OK

state 4351 begin climb

4353 1.32 146.0 532.8 0.0 458 4489 1.10 2.58 122.43 1.133 4 0.099 0.074 2951 392 2363

4558 0.99 146.0 516.7 12.6 474 4563 0.30 2.47 0.00 0.000 6 0.160 0.061 2872 1810 2360

4885 0.95 167.7 486.6 9.0 504 4912 0.00 2.53 18.35 1.078 4 0.000 0.074 2880 395 2274

4937 0.91 174.6 481.7 9.7 508 4952 0.12 2.42 7.30 0.926 6 0.148 0.061 2849 1811 2247

5268 0.95 210.0 452.9 8.4 539 5300 0.00 0.00 30.38 1.100 6 0.000 0.000 2849 1811 2103

5616 1.08 238.7 422.2 8.7 572 5649 0.15 0.00 25.10 1.081 6 0.087 0.000 2903 1811 1984

5964 1.00 238.7 379.6 12.5 605 5966 0.12 0.00 0.00 0.000 6 0.156 0.000 2872 1811 1980

6284 1.05 238.7 346.8 10.0 635 6287 0.00 2.42 0.00 0.000 4 0.000 0.074 2880 389 1979

6309 1.11 238.7 344.2 10.1 637 6313 0.00 2.35 0.00 0.000 6 0.000 0.061 2880 1803 1979

6640 1.11 238.7 309.8 10.5 668 6644 0.00 2.40 0.00 0.000 4 0.000 0.074 2890 383 1979

6656 1.11 238.7 308.0 10.1 669 6664 0.00 2.38 0.00 0.000 6 0.000 0.059 2890 1803 1979

6983 1.11 239.0 274.5 10.0 700 6986 0.00 2.38 0.00 0.000 4 0.000 0.074 2901 390 1979

7019 1.11 239.0 270.2 10.3 703 7029 0.00 2.35 0.00 0.000 6 0.000 0.061 2901 1800 1979

7347 1.11 239.0 237.2 10.3 734 7351 0.00 2.38 0.00 0.000 4 0.000 0.074 2911 382 1979

7416 1.11 239.0 229.6 10.8 740 7426 0.00 2.35 0.00 0.000 6 0.000 0.061 2911 1798 1979

7745 1.11 241.4 197.1 9.9 771 7749 0.00 2.38 0.00 0.000 4 0.000 0.074 2921 380 1979

7803 1.11 241.4 190.7 10.6 776 7813 0.08 2.35 0.00 0.000 6 0.151 0.061 2897 1800 1979

8131 1.16 275.5 162.2 8.4 807 8170 0.00 2.45 30.05 0.991 4 0.000 0.075 2905 396 1835

8175 1.26 314.7 158.4 8.2 810 8215 0.05 2.38 33.95 0.950 6 0.091 0.061 2936 1794 1676

8541 1.26 314.7 118.0 11.1 844 8545 0.00 2.42 0.00 0.000 4 0.000 0.075 2946 382 1664

8565 1.26 314.7 115.3 11.7 846 8569 0.00 2.40 0.00 0.000 6 0.000 0.061 2947 1818 1665

8891 1.26 314.7 76.6 12.4 895 8899 0.00 2.45 0.00 0.000 4 0.000 0.077 2957 399 1662

8959 1.26 314.7 68.1 12.5 907 8968 0.08 2.38 0.00 0.000 6 0.147 0.064 2933 1807 1662

9290 1.26 314.7 32.6 10.8 968 9298 0.00 2.42 0.00 0.000 4 0.000 0.077 2942 396 1661

9333 1.32 314.7 28.0 11.1 975 9341 0.00 2.35 0.00 0.000 6 0.000 0.064 2942 1797 1660

9656 end climb: SURFACE_DEPTH_REACHED

state 9656 begin surface coast

9706 end surface coast: CONTROL_FINISHED_OK

state 9706 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	14	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	2200	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LON	-122.3	C_ROLL_CLIMB	1800	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	27	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	330	UPLOAD_DIVES_MAX	-1	VBD_MIN	588	DEVICE2	20
T_MISSION	396	CALL_TRIES	5	VBD_MAX	3951	DEVICE3	-1
T_ABORT	1440	CALL_WAIT	60	C_VBD	2959	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	-111453.55	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	2	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	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	010837,6642.360,-6021.902,12,1.0,28,-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	0.000,0.000
_SM_DEPTHo	2.13	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-72.6	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	011244,6642.342,-6021.788,10,1.1,10,-38.0	MHEAD_RNG_PITCHd_Wd	350.7,15552,-18.1,-10.000
SPEED_LIMITS	0.173,0.263	D_GRID	527

FINISH	1.2,1.024928	XPDR_PINGS	110
SM_CCo	9720,46.20,0.907,0,0,1429,375.06	_24V_AH	23.4,7.641
SM_GC	2.18,0.00,0.00,46.20,0.000,0.000,0.907,341,2211,1429,-10.65,0.31,375.06	_10V_AH	10.5,2.788
RAFOS_CLK	358	DATA_FILE_SIZE	34632,1044
RAFOS_FIX	0.000000,0.000000,010170,000000,0,0,0.00	CAP_FILE_SIZE	97729,0
IRIDIUM_FIX	6614.97,-6021.37,011297,222210	CFSIZE	260165632,252313600
TT8_MAMPS	0.026845	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
HUMID	1832	SOUNDSPEED	1452.1
INTERNAL_PRESSURE	9.87343	CURRENT	0.138,152.3,1
TCM_TEMP	15.40	GPS	070908,035707,6642.807,-6023.254,31,1.0,35,-38.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	19	263	117.58	SBE_CT	732	24	411.52
Roll_motor	90	96	205.28	SBE_O2	3777	19	1679.68
VBD_pump_during_apogee	388	1200	10905.29	nil	0	0	0.00
VBD_pump_during_surface	46	907	980.93	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	24	103	58.28	nil	0	0	0.00
Iridium_during_connect	35	160	133.89	nil	0	0	0.00
Iridium_during_xfer	100	223	525.37
Transponder_ping	27	420	270.27
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	12	50	6.62
TT8	1846	19	386.28
LPSleep	3452	2	83.74
TT8_Active	452	19	94.63
TT8_Sampling	4005	39	1678.80
TT8_CF8	262	45	126.69
TT8_Kalman	0	0	0.00
Analog_circuits	1466	12	184.77
GPS_charging	0	0	0.00
Compass	1699	8	142.73
RAFOS	0	1	0.00
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
12	end surface: CONTROL_FINISHED_OK
state	12	begin dive
14	-1.32	-146.0	0.0	0.0	0	80	0.00	0.00	-63.53	0.000	2	0.000	0.000	341	2203	2805
82	-1.32	-146.0	3.2	-2.3	7	117	8.48	2.33	-18.17	0.000	4	0.263	0.094	2353	3608	3558
167	-1.07	-146.0	24.1	-19.9	20	176	0.20	2.33	0.00	0.000	6	0.166	0.057	2422	2189	3561
496	-1.07	-146.0	71.8	-14.0	81	504	0.00	2.33	0.00	0.000	4	0.000	0.071	2426	796	3563
565	-1.07	-146.0	81.5	-13.8	93	573	0.00	2.38	0.00	0.000	6	0.000	0.067	2418	2203	3564
893	-1.07	-146.0	126.0	-13.2	136	897	0.00	2.28	0.00	0.000	4	0.000	0.081	2407	3598	3564
1105	-1.07	-146.0	155.3	-14.0	155	1114	0.00	2.25	0.00	0.000	6	0.000	0.057	2407	2195	3564
1432	-1.07	-146.0	197.4	-13.4	186	1434	0.00	0.00	0.00	0.000	6	0.000	0.000	2407	2195	3563
1750	-1.07	-146.0	239.3	-12.9	216	1754	0.00	2.33	0.00	0.000	4	0.000	0.082	2397	3600	3562
1839	-1.07	-146.0	251.1	-13.6	224	1844	0.12	2.22	0.00	0.000	6	0.163	0.058	2429	2189	3562
2171	-1.18	-146.0	287.2	-10.6	255	2176	0.12	2.28	0.00	0.000	4	0.093	0.071	2381	784	3562
2239	-1.13	-146.0	296.0	-13.3	261	2244	0.15	2.33	0.00	0.000	6	0.161	0.069	2412	2204	3562
2571	-1.19	-146.0	333.8	-11.2	292	2575	0.00	2.25	0.00	0.000	4	0.000	0.097	2403	3596	3562
2750	-1.25	-146.0	355.9	-12.1	308	2759	0.00	2.22	0.00	0.000	6	0.000	0.058	2403	2195	3562
3077	-1.25	-146.0	392.3	-11.2	339	3079	0.00	0.00	0.00	0.000	6	0.000	0.000	2403	2195	3562
3396	-1.29	-146.0	428.3	-11.6	369	3400	0.10	2.30	0.00	0.000	4	0.099	0.081	2353	3602	3561
3540	-1.21	-146.0	448.6	-14.6	382	3544	0.15	2.20	0.00	0.000	6	0.171	0.058	2392	2191	3561
3870	-1.21	-146.0	487.1	-11.3	413	3871	0.00	0.00	0.00	0.000	6	0.000	0.000	2392	2191	3562
4189	-1.21	-146.0	523.8	-11.8	443	4193	0.00	2.30	0.00	0.000	4	0.000	0.081	2383	3598	3562
4213	end dive: TARGET_DEPTH_EXCEEDED
state	4213	begin apogee
4220	-0.31	0.0	527.3	12.4	445	4350	0.62	0.00	120.70	1.200	6	0.146	0.000	2583	1789	2958
4351	end apogee: CONTROL_FINISHED_OK
state	4351	begin climb
4353	1.32	146.0	532.8	0.0	458	4489	1.10	2.58	122.43	1.133	4	0.099	0.074	2951	392	2363
4558	0.99	146.0	516.7	12.6	474	4563	0.30	2.47	0.00	0.000	6	0.160	0.061	2872	1810	2360
4885	0.95	167.7	486.6	9.0	504	4912	0.00	2.53	18.35	1.078	4	0.000	0.074	2880	395	2274
4937	0.91	174.6	481.7	9.7	508	4952	0.12	2.42	7.30	0.926	6	0.148	0.061	2849	1811	2247
5268	0.95	210.0	452.9	8.4	539	5300	0.00	0.00	30.38	1.100	6	0.000	0.000	2849	1811	2103
5616	1.08	238.7	422.2	8.7	572	5649	0.15	0.00	25.10	1.081	6	0.087	0.000	2903	1811	1984
5964	1.00	238.7	379.6	12.5	605	5966	0.12	0.00	0.00	0.000	6	0.156	0.000	2872	1811	1980
6284	1.05	238.7	346.8	10.0	635	6287	0.00	2.42	0.00	0.000	4	0.000	0.074	2880	389	1979
6309	1.11	238.7	344.2	10.1	637	6313	0.00	2.35	0.00	0.000	6	0.000	0.061	2880	1803	1979
6640	1.11	238.7	309.8	10.5	668	6644	0.00	2.40	0.00	0.000	4	0.000	0.074	2890	383	1979
6656	1.11	238.7	308.0	10.1	669	6664	0.00	2.38	0.00	0.000	6	0.000	0.059	2890	1803	1979
6983	1.11	239.0	274.5	10.0	700	6986	0.00	2.38	0.00	0.000	4	0.000	0.074	2901	390	1979
7019	1.11	239.0	270.2	10.3	703	7029	0.00	2.35	0.00	0.000	6	0.000	0.061	2901	1800	1979
7347	1.11	239.0	237.2	10.3	734	7351	0.00	2.38	0.00	0.000	4	0.000	0.074	2911	382	1979
7416	1.11	239.0	229.6	10.8	740	7426	0.00	2.35	0.00	0.000	6	0.000	0.061	2911	1798	1979
7745	1.11	241.4	197.1	9.9	771	7749	0.00	2.38	0.00	0.000	4	0.000	0.074	2921	380	1979
7803	1.11	241.4	190.7	10.6	776	7813	0.08	2.35	0.00	0.000	6	0.151	0.061	2897	1800	1979
8131	1.16	275.5	162.2	8.4	807	8170	0.00	2.45	30.05	0.991	4	0.000	0.075	2905	396	1835
8175	1.26	314.7	158.4	8.2	810	8215	0.05	2.38	33.95	0.950	6	0.091	0.061	2936	1794	1676
8541	1.26	314.7	118.0	11.1	844	8545	0.00	2.42	0.00	0.000	4	0.000	0.075	2946	382	1664
8565	1.26	314.7	115.3	11.7	846	8569	0.00	2.40	0.00	0.000	6	0.000	0.061	2947	1818	1665
8891	1.26	314.7	76.6	12.4	895	8899	0.00	2.45	0.00	0.000	4	0.000	0.077	2957	399	1662
8959	1.26	314.7	68.1	12.5	907	8968	0.08	2.38	0.00	0.000	6	0.147	0.064	2933	1807	1662
9290	1.26	314.7	32.6	10.8	968	9298	0.00	2.42	0.00	0.000	4	0.000	0.077	2942	396	1661
9333	1.32	314.7	28.0	11.1	975	9341	0.00	2.35	0.00	0.000	6	0.000	0.064	2942	1797	1660
9656	end climb: SURFACE_DEPTH_REACHED
state	9656	begin surface coast
9706	end surface coast: CONTROL_FINISHED_OK
state	9706	begin surface