Glider dive log

DavisStrait Sep08 * SG108 * Dive index * Mission links * Dive 15 * 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 15 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 26 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 -111470.23 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 -111470.23

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 26 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 15 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 035707,6642.807,-6023.254,31,1.0,35,-38.0 TGT_NAME TARGET_W_IN

_CALLS 1 TGT_LATLONG 6642.000,-6043.000

_XMS_NAKs 2 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 2.20 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -70.2 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 040138,6642.758,-6023.185,9,1.1,14,-38.0 MHEAD_RNG_PITCHd_Wd 331.6,14583,-18.1,-10.000

SPEED_LIMITS 0.173,0.263 D_GRID 525

Post-dive calculations and measurements:

FINISH 1.2,1.014383 XPDR_PINGS 56

SM_CCo 9661,0.00,0.000,0,0,1313,403.76 _24V_AH 23.4,7.794

SM_GC 2.23,7.65,0.00,0.00,0.060,0.000,0.000,333,2183,1313,-10.60,-0.48,403.76 _10V_AH 10.5,2.885

RAFOS_CLK 352 DATA_FILE_SIZE 34656,1034

RAFOS 0,1220760244,4.083333,4.067778,59,59,59,56,53,50,174,199,223,187,156,132 CAP_FILE_SIZE 98399,0

RAFOS_FIX 0.000000,0.000000,010170,000000,0,0,0.00 CFSIZE 260165632,252260352

IRIDIUM_FIX 6614.97,-6021.37,021297,010142 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TT8_MAMPS 0.026078 SOUNDSPEED 1452.1

HUMID 1799 CURRENT 0.069,164.7,1

INTERNAL_PRESSURE 9.87343 GPS 070908,064407,6643.166,-6026.120,25,1.9,25,-38.1

TCM_TEMP 15.40

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 19 263 123.33 SBE_CT 724 24 407.02

Roll_motor 76 93 166.58 SBE_O2 3740 19 1662.96

VBD_pump_during_apogee 467 1202 13155.05 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 29 103 71.77 nil 0 0 0.00

Iridium_during_connect 35 160 132.87 nil 0 0 0.00

Iridium_during_xfer 111 223 582.16

Transponder_ping 14 420 137.59

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 16 50 8.43

TT8 1802 19 377.11

LPSleep 3488 2 84.61

TT8_Active 452 19 94.57

TT8_Sampling 3906 39 1637.43

TT8_CF8 287 45 138.82

TT8_Kalman 0 0 0.00

Analog_circuits 1459 12 183.85

GPS_charging 0 0 0.00

Compass 1633 8 137.25

RAFOS 1800 1 28.35

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

14 -1.32 -146.0 0.0 0.0 0 77 0.00 0.00 -60.03 0.000 2 0.000 0.000 341 2212 2778

79 -1.32 -146.0 3.2 -2.5 7 114 8.50 2.38 -19.62 0.000 4 0.264 0.094 2353 3601 3559

339 -1.09 -146.0 55.6 -17.5 53 348 0.17 2.30 0.00 0.000 6 0.163 0.057 2414 2187 3564

674 -1.09 -146.0 101.5 -13.8 114 675 0.00 0.00 0.00 0.000 6 0.000 0.000 2414 2187 3565

992 -1.09 -146.0 145.3 -13.1 144 996 0.00 2.35 0.00 0.000 4 0.000 0.081 2406 3608 3565

1077 -1.09 -146.0 157.3 -13.5 151 1086 0.00 2.25 0.00 0.000 6 0.000 0.058 2405 2206 3565

1404 -1.09 -146.0 199.1 -13.0 182 1405 0.00 0.00 0.00 0.000 6 0.000 0.000 2406 2205 3565

1723 -1.09 -146.0 239.3 -12.8 212 1724 0.00 0.00 0.00 0.000 6 0.000 0.000 2405 2205 3565

2041 -1.09 -146.0 279.8 -12.7 242 2042 0.00 0.00 0.00 0.000 6 0.000 0.000 2406 2205 3564

2360 -1.09 -146.0 318.9 -12.3 272 2362 0.00 0.00 0.00 0.000 6 0.000 0.000 2406 2205 3563

2678 -1.09 -146.0 356.2 -11.7 302 2682 0.00 2.28 0.00 0.000 4 0.000 0.071 2406 788 3563

2736 -1.09 -146.0 363.7 -12.5 307 2746 0.05 2.35 0.00 0.000 6 0.157 0.068 2413 2207 3563

3064 -1.17 -146.0 400.5 -11.1 338 3067 0.00 2.22 0.00 0.000 4 0.000 0.084 2404 3597 3563

3200 -1.23 -146.0 417.1 -12.0 350 3210 0.00 2.22 0.00 0.000 6 0.000 0.057 2404 2189 3563

3528 -1.28 -146.0 453.4 -10.9 381 3536 0.10 0.00 0.00 0.000 6 0.102 0.000 2365 2189 3563

3857 -1.20 -146.0 496.5 -13.2 412 3861 0.12 2.30 0.00 0.000 4 0.173 0.083 2388 3597 3563

3995 -1.20 -146.0 514.0 -12.4 424 3999 0.00 2.17 0.00 0.000 6 0.000 0.057 2388 2198 3563

4091 end dive: TARGET_DEPTH_EXCEEDED

state 4091 begin apogee

4096 -0.31 0.0 525.9 12.4 433 4226 0.60 0.00 120.88 1.203 6 0.143 0.000 2581 1793 2958

4227 end apogee: CONTROL_FINISHED_OK

state 4227 begin climb

4228 1.32 146.0 530.7 0.0 446 4359 1.12 0.00 122.68 1.135 6 0.100 0.000 2945 1793 2362

4677 1.03 146.0 486.1 12.1 489 4679 0.25 0.00 0.00 0.000 6 0.158 0.000 2878 1793 2358

4996 0.97 168.4 457.0 9.0 519 5020 0.00 2.45 18.45 1.086 4 0.000 0.074 2886 395 2272

5029 0.91 186.7 454.0 9.2 522 5057 0.15 2.40 16.95 1.053 6 0.145 0.060 2848 1801 2196

5373 1.01 214.2 424.0 8.7 554 5403 0.12 2.55 23.60 1.081 4 0.091 0.073 2903 388 2084

5418 0.92 214.2 418.8 11.2 557 5428 0.15 2.47 0.00 0.000 6 0.142 0.060 2857 1810 2084

5746 0.98 220.8 387.1 9.7 588 5756 0.00 0.00 6.43 0.894 6 0.000 0.000 2858 1810 2059

6075 1.07 235.8 355.8 9.3 619 6094 0.12 2.45 14.05 1.030 4 0.092 0.074 2914 397 1997

6148 0.96 235.8 346.7 12.7 625 6157 0.15 2.40 0.00 0.000 6 0.145 0.061 2867 1801 1996

6475 1.06 252.3 314.7 9.2 656 6502 0.00 2.50 14.77 1.016 4 0.000 0.074 2875 388 1930

6559 1.13 254.5 306.3 9.9 663 6564 0.10 2.40 0.00 0.000 6 0.096 0.061 2914 1814 1929

6885 1.09 254.5 266.9 12.0 693 6888 0.00 2.42 0.00 0.000 4 0.000 0.074 2925 392 1927

6931 1.03 254.5 261.2 12.6 697 6936 0.17 2.35 0.00 0.000 6 0.153 0.061 2878 1806 1927

7259 1.10 258.0 228.4 9.8 727 7274 0.00 2.42 5.95 0.850 4 0.000 0.074 2886 397 1907

7287 1.18 258.8 225.4 10.0 729 7292 0.10 2.33 0.00 0.000 6 0.095 0.060 2927 1800 1907

7613 1.12 258.8 185.1 12.0 759 7618 0.12 2.38 0.00 0.000 4 0.160 0.074 2903 393 1906

7644 1.18 258.8 181.2 10.4 761 7653 0.00 2.35 0.00 0.000 6 0.000 0.061 2903 1799 1905

7972 1.20 272.7 149.0 9.4 792 7991 0.00 2.40 13.60 0.955 4 0.000 0.074 2914 386 1846

8028 1.20 275.8 143.5 9.9 796 8038 0.00 2.40 4.10 0.677 6 0.000 0.062 2914 1804 1834

8354 1.22 292.7 112.7 9.2 827 8374 0.00 2.42 15.07 0.940 4 0.000 0.075 2923 384 1764

8422 1.22 294.0 106.0 9.9 832 8432 0.00 2.40 0.00 0.000 6 0.000 0.061 2923 1801 1763

8748 1.25 317.6 75.6 8.9 887 8775 0.00 2.50 21.83 0.937 4 0.000 0.075 2934 392 1664

8814 1.25 317.6 69.1 10.6 897 8823 0.00 2.40 0.00 0.000 6 0.000 0.063 2933 1793 1661

9145 1.25 320.1 34.9 9.9 958 9152 0.00 0.00 0.00 0.000 6 0.000 0.000 2933 1793 1657

9474 1.53 401.3 11.7 6.3 1019 9551 0.20 2.50 69.10 0.902 4 0.084 0.078 3012 3213 1322

9557 end climb: SURFACE_DEPTH_REACHED

state 9557 begin surface coast

9585 end surface coast: CONTROL_FINISHED_OK

state 9586 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	15	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	26	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	-111470.23	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	035707,6642.807,-6023.254,31,1.0,35,-38.0	TGT_NAME	TARGET_W_IN
_CALLS	1	TGT_LATLONG	6642.000,-6043.000
_XMS_NAKs	2	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	2.20	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-70.2	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	040138,6642.758,-6023.185,9,1.1,14,-38.0	MHEAD_RNG_PITCHd_Wd	331.6,14583,-18.1,-10.000
SPEED_LIMITS	0.173,0.263	D_GRID	525

FINISH	1.2,1.014383	XPDR_PINGS	56
SM_CCo	9661,0.00,0.000,0,0,1313,403.76	_24V_AH	23.4,7.794
SM_GC	2.23,7.65,0.00,0.00,0.060,0.000,0.000,333,2183,1313,-10.60,-0.48,403.76	_10V_AH	10.5,2.885
RAFOS_CLK	352	DATA_FILE_SIZE	34656,1034
RAFOS	0,1220760244,4.083333,4.067778,59,59,59,56,53,50,174,199,223,187,156,132	CAP_FILE_SIZE	98399,0
RAFOS_FIX	0.000000,0.000000,010170,000000,0,0,0.00	CFSIZE	260165632,252260352
IRIDIUM_FIX	6614.97,-6021.37,021297,010142	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TT8_MAMPS	0.026078	SOUNDSPEED	1452.1
HUMID	1799	CURRENT	0.069,164.7,1
INTERNAL_PRESSURE	9.87343	GPS	070908,064407,6643.166,-6026.120,25,1.9,25,-38.1
TCM_TEMP	15.40

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	19	263	123.33	SBE_CT	724	24	407.02
Roll_motor	76	93	166.58	SBE_O2	3740	19	1662.96
VBD_pump_during_apogee	467	1202	13155.05	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	29	103	71.77	nil	0	0	0.00
Iridium_during_connect	35	160	132.87	nil	0	0	0.00
Iridium_during_xfer	111	223	582.16
Transponder_ping	14	420	137.59
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	16	50	8.43
TT8	1802	19	377.11
LPSleep	3488	2	84.61
TT8_Active	452	19	94.57
TT8_Sampling	3906	39	1637.43
TT8_CF8	287	45	138.82
TT8_Kalman	0	0	0.00
Analog_circuits	1459	12	183.85
GPS_charging	0	0	0.00
Compass	1633	8	137.25
RAFOS	1800	1	28.35
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
14	-1.32	-146.0	0.0	0.0	0	77	0.00	0.00	-60.03	0.000	2	0.000	0.000	341	2212	2778
79	-1.32	-146.0	3.2	-2.5	7	114	8.50	2.38	-19.62	0.000	4	0.264	0.094	2353	3601	3559
339	-1.09	-146.0	55.6	-17.5	53	348	0.17	2.30	0.00	0.000	6	0.163	0.057	2414	2187	3564
674	-1.09	-146.0	101.5	-13.8	114	675	0.00	0.00	0.00	0.000	6	0.000	0.000	2414	2187	3565
992	-1.09	-146.0	145.3	-13.1	144	996	0.00	2.35	0.00	0.000	4	0.000	0.081	2406	3608	3565
1077	-1.09	-146.0	157.3	-13.5	151	1086	0.00	2.25	0.00	0.000	6	0.000	0.058	2405	2206	3565
1404	-1.09	-146.0	199.1	-13.0	182	1405	0.00	0.00	0.00	0.000	6	0.000	0.000	2406	2205	3565
1723	-1.09	-146.0	239.3	-12.8	212	1724	0.00	0.00	0.00	0.000	6	0.000	0.000	2405	2205	3565
2041	-1.09	-146.0	279.8	-12.7	242	2042	0.00	0.00	0.00	0.000	6	0.000	0.000	2406	2205	3564
2360	-1.09	-146.0	318.9	-12.3	272	2362	0.00	0.00	0.00	0.000	6	0.000	0.000	2406	2205	3563
2678	-1.09	-146.0	356.2	-11.7	302	2682	0.00	2.28	0.00	0.000	4	0.000	0.071	2406	788	3563
2736	-1.09	-146.0	363.7	-12.5	307	2746	0.05	2.35	0.00	0.000	6	0.157	0.068	2413	2207	3563
3064	-1.17	-146.0	400.5	-11.1	338	3067	0.00	2.22	0.00	0.000	4	0.000	0.084	2404	3597	3563
3200	-1.23	-146.0	417.1	-12.0	350	3210	0.00	2.22	0.00	0.000	6	0.000	0.057	2404	2189	3563
3528	-1.28	-146.0	453.4	-10.9	381	3536	0.10	0.00	0.00	0.000	6	0.102	0.000	2365	2189	3563
3857	-1.20	-146.0	496.5	-13.2	412	3861	0.12	2.30	0.00	0.000	4	0.173	0.083	2388	3597	3563
3995	-1.20	-146.0	514.0	-12.4	424	3999	0.00	2.17	0.00	0.000	6	0.000	0.057	2388	2198	3563
4091	end dive: TARGET_DEPTH_EXCEEDED
state	4091	begin apogee
4096	-0.31	0.0	525.9	12.4	433	4226	0.60	0.00	120.88	1.203	6	0.143	0.000	2581	1793	2958
4227	end apogee: CONTROL_FINISHED_OK
state	4227	begin climb
4228	1.32	146.0	530.7	0.0	446	4359	1.12	0.00	122.68	1.135	6	0.100	0.000	2945	1793	2362
4677	1.03	146.0	486.1	12.1	489	4679	0.25	0.00	0.00	0.000	6	0.158	0.000	2878	1793	2358
4996	0.97	168.4	457.0	9.0	519	5020	0.00	2.45	18.45	1.086	4	0.000	0.074	2886	395	2272
5029	0.91	186.7	454.0	9.2	522	5057	0.15	2.40	16.95	1.053	6	0.145	0.060	2848	1801	2196
5373	1.01	214.2	424.0	8.7	554	5403	0.12	2.55	23.60	1.081	4	0.091	0.073	2903	388	2084
5418	0.92	214.2	418.8	11.2	557	5428	0.15	2.47	0.00	0.000	6	0.142	0.060	2857	1810	2084
5746	0.98	220.8	387.1	9.7	588	5756	0.00	0.00	6.43	0.894	6	0.000	0.000	2858	1810	2059
6075	1.07	235.8	355.8	9.3	619	6094	0.12	2.45	14.05	1.030	4	0.092	0.074	2914	397	1997
6148	0.96	235.8	346.7	12.7	625	6157	0.15	2.40	0.00	0.000	6	0.145	0.061	2867	1801	1996
6475	1.06	252.3	314.7	9.2	656	6502	0.00	2.50	14.77	1.016	4	0.000	0.074	2875	388	1930
6559	1.13	254.5	306.3	9.9	663	6564	0.10	2.40	0.00	0.000	6	0.096	0.061	2914	1814	1929
6885	1.09	254.5	266.9	12.0	693	6888	0.00	2.42	0.00	0.000	4	0.000	0.074	2925	392	1927
6931	1.03	254.5	261.2	12.6	697	6936	0.17	2.35	0.00	0.000	6	0.153	0.061	2878	1806	1927
7259	1.10	258.0	228.4	9.8	727	7274	0.00	2.42	5.95	0.850	4	0.000	0.074	2886	397	1907
7287	1.18	258.8	225.4	10.0	729	7292	0.10	2.33	0.00	0.000	6	0.095	0.060	2927	1800	1907
7613	1.12	258.8	185.1	12.0	759	7618	0.12	2.38	0.00	0.000	4	0.160	0.074	2903	393	1906
7644	1.18	258.8	181.2	10.4	761	7653	0.00	2.35	0.00	0.000	6	0.000	0.061	2903	1799	1905
7972	1.20	272.7	149.0	9.4	792	7991	0.00	2.40	13.60	0.955	4	0.000	0.074	2914	386	1846
8028	1.20	275.8	143.5	9.9	796	8038	0.00	2.40	4.10	0.677	6	0.000	0.062	2914	1804	1834
8354	1.22	292.7	112.7	9.2	827	8374	0.00	2.42	15.07	0.940	4	0.000	0.075	2923	384	1764
8422	1.22	294.0	106.0	9.9	832	8432	0.00	2.40	0.00	0.000	6	0.000	0.061	2923	1801	1763
8748	1.25	317.6	75.6	8.9	887	8775	0.00	2.50	21.83	0.937	4	0.000	0.075	2934	392	1664
8814	1.25	317.6	69.1	10.6	897	8823	0.00	2.40	0.00	0.000	6	0.000	0.063	2933	1793	1661
9145	1.25	320.1	34.9	9.9	958	9152	0.00	0.00	0.00	0.000	6	0.000	0.000	2933	1793	1657
9474	1.53	401.3	11.7	6.3	1019	9551	0.20	2.50	69.10	0.902	4	0.084	0.078	3012	3213	1322
9557	end climb: SURFACE_DEPTH_REACHED
state	9557	begin surface coast
9585	end surface coast: CONTROL_FINISHED_OK
state	9586	begin surface