Glider dive log

DavisStrait Sep08 * SG113 * Dive index * Mission links * Dive 16 * 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 16 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 25 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 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 -22360.34 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 -22360.34

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 25 VBD_BLEED_AD_RATE 8

C_VBD 2708 MAX_BUOY 150 R_STBD_OVSHOOT 22 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 16 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 064208,6638.432,-6024.053,25,1.9,25,-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 1.21 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -64.7 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 064645,6638.383,-6023.982,8,1.6,8,-37.9 MHEAD_RNG_PITCHd_Wd 337.1,15458,-18.0,-10.000

SPEED_LIMITS 0.173,0.259 D_GRID 505

Post-dive calculations and measurements:

FINISH 0.3,1.024571 XPDR_PINGS 0

SM_CCo 9352,0.00,0.000,0,0,1065,403.03 _24V_AH 21.7,10.258

SM_GC 1.34,7.60,0.00,0.00,0.087,0.000,0.000,164,2301,1065,-10.39,0.03,403.03 _10V_AH 10.6,2.867

RAFOS_CLK 511 DATA_FILE_SIZE 37872,995

RAFOS 0,1220774643,8.083333,8.067500,64,58,56,54,52,51,194,162,132,217,171,149 CAP_FILE_SIZE 101476,0

RAFOS_FIX 6746.988770,-5823.083496,070908,040440,5,63,123.78 CFSIZE 260165632,250912768

IRIDIUM_FIX 6609.62,-6019.34,021297,040428 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,0

TT8_MAMPS 0.027612 SOUNDSPEED 1451.4

HUMID 1939 CURRENT 0.094,183.6,1

INTERNAL_PRESSURE 8.50619 GPS 070908,092408,6638.275,-6027.215,28,1.2,28,-37.9

TCM_TEMP 15.40

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 21 272 127.48 SBE_CT 776 24 404.56

Roll_motor 91 85 168.44 SBE_O2 676 19 278.76

VBD_pump_during_apogee 478 1295 13459.81 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 23 103 52.07 nil 0 0 0.00

Iridium_during_connect 33 160 116.42 nil 0 0 0.00

Iridium_during_xfer 128 223 619.78

Transponder_ping 0 420 0.00

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 10 50 5.40

TT8 1738 19 367.00

LPSleep 5374 2 131.60

TT8_Active 599 19 126.67

TT8_Sampling 1624 39 687.21

TT8_CF8 297 45 144.71

TT8_Kalman 0 0 0.00

Analog_circuits 1474 12 187.51

GPS_charging 0 0 0.00

Compass 1612 8 136.78

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

14 -1.42 -146.0 0.0 0.0 0 133 0.00 0.00 -115.72 0.000 2 0.000 0.000 168 2290 2781

135 -1.42 -146.0 3.2 -4.9 18 168 8.32 2.45 -14.98 0.000 4 0.272 0.085 2121 3707 3307

320 -1.20 -146.0 49.2 -18.7 50 327 0.20 2.28 0.00 0.000 6 0.191 0.047 2171 2286 3311

664 -1.13 -146.0 101.7 -14.8 110 668 0.00 2.40 0.00 0.000 4 0.000 0.075 2171 3717 3314

701 -1.13 -146.0 107.4 -14.8 113 710 0.00 2.28 0.00 0.000 6 0.000 0.045 2171 2297 3314

1028 -1.13 -146.0 151.2 -13.3 144 1031 0.00 2.25 0.00 0.000 4 0.000 0.061 2172 883 3315

1095 -1.08 -146.0 160.6 -13.6 150 1100 0.12 2.30 0.00 0.000 6 0.199 0.058 2201 2311 3314

1425 -1.18 -146.0 199.1 -11.5 181 1430 0.10 2.30 0.00 0.000 4 0.117 0.077 2167 3707 3314

1502 -1.24 -146.0 209.2 -12.8 187 1508 0.00 2.25 0.00 0.000 6 0.000 0.047 2167 2294 3314

1828 -1.24 -146.0 251.0 -12.4 218 1830 0.00 0.00 0.00 0.000 6 0.000 0.000 2167 2294 3314

2144 -1.24 -146.0 292.0 -12.5 248 2146 0.00 0.00 0.00 0.000 6 0.000 0.000 2167 2294 3313

2464 -1.24 -146.0 331.4 -11.9 278 2467 0.00 2.22 0.00 0.000 4 0.000 0.062 2167 884 3312

2546 -1.24 -146.0 341.9 -12.1 285 2553 0.00 2.30 0.00 0.000 6 0.000 0.058 2167 2305 3312

2872 -1.30 -146.0 379.4 -11.3 316 2875 0.00 2.30 0.00 0.000 4 0.000 0.076 2167 3721 3312

2928 -1.42 -146.0 385.8 -10.8 321 2932 0.15 2.22 0.00 0.000 6 0.113 0.047 2120 2290 3312

3256 -1.34 -146.0 430.1 -13.4 352 3258 0.10 0.00 0.00 0.000 6 0.207 0.000 2142 2290 3311

3575 -1.34 -146.0 469.3 -12.1 382 3580 0.00 2.20 0.00 0.000 4 0.000 0.061 2142 893 3311

3635 -1.34 -146.0 477.0 -12.2 387 3643 0.00 2.28 0.00 0.000 6 0.000 0.058 2142 2301 3311

3886 end dive: TARGET_DEPTH_EXCEEDED

state 3886 begin apogee

3891 -0.34 0.0 506.1 11.6 411 4020 0.70 0.00 125.35 1.295 6 0.178 0.000 2355 2510 2708

4020 end apogee: CONTROL_FINISHED_OK

state 4020 begin climb

4022 1.42 146.0 510.8 0.0 424 4163 1.27 2.67 130.52 1.205 4 0.117 0.058 2744 1091 2111

4168 1.11 146.0 502.3 10.6 438 4175 0.28 2.60 0.00 0.000 6 0.167 0.054 2679 2503 2111

4493 1.04 165.0 472.7 9.1 469 4517 0.00 2.53 16.90 1.156 4 0.000 0.076 2679 3909 2035

4611 0.84 165.0 460.2 11.5 479 4620 0.17 2.38 0.00 0.000 6 0.163 0.045 2617 2504 2033

4937 1.04 224.8 436.9 7.2 510 4994 0.15 2.67 51.05 1.206 4 0.092 0.075 2669 3916 1791

5017 0.95 224.8 429.1 11.0 517 5022 0.15 2.42 0.00 0.000 6 0.169 0.044 2640 2501 1790

5341 1.10 257.0 400.4 8.5 547 5376 0.12 2.62 27.85 1.174 4 0.101 0.075 2681 3909 1660

5455 1.00 257.0 387.3 13.7 557 5460 0.12 2.38 0.00 0.000 6 0.171 0.045 2652 2494 1659

5780 1.13 276.1 357.6 9.1 587 5803 0.12 2.53 16.98 1.137 4 0.102 0.076 2694 3910 1581

5827 1.04 276.1 352.3 12.3 591 5831 0.15 2.35 0.00 0.000 6 0.170 0.045 2661 2492 1581

6156 1.18 296.7 320.8 9.0 622 6181 0.12 2.58 18.27 1.133 4 0.102 0.075 2704 3914 1498

6227 1.07 296.7 312.4 13.7 628 6232 0.15 2.33 0.00 0.000 6 0.169 0.045 2667 2499 1497

6556 1.21 309.2 280.4 9.4 659 6571 0.12 0.00 11.62 1.079 6 0.100 0.000 2710 2498 1447

6884 1.21 309.2 242.2 11.3 690 6888 0.00 2.40 0.00 0.000 4 0.000 0.075 2710 3910 1445

6962 1.10 309.2 232.3 12.9 697 6967 0.15 2.28 0.00 0.000 6 0.171 0.045 2677 2488 1446

7292 1.26 323.0 200.8 9.3 728 7314 0.12 2.50 12.55 1.076 4 0.100 0.076 2721 3910 1391

7364 1.17 323.0 191.5 14.3 734 7371 0.10 2.30 0.00 0.000 6 0.166 0.046 2691 2501 1391

7689 1.33 343.8 160.2 9.0 765 7713 0.12 2.50 18.35 1.095 4 0.099 0.074 2735 3914 1306

7770 1.23 343.8 150.2 14.0 772 7775 0.15 2.30 0.00 0.000 6 0.170 0.047 2697 2497 1304

8094 1.39 352.9 118.1 9.6 802 8109 0.15 2.45 8.62 1.002 4 0.095 0.074 2751 3907 1268

8126 1.32 352.9 114.3 12.6 805 8131 0.15 2.28 0.00 0.000 6 0.175 0.047 2720 2497 1267

8462 1.43 354.0 79.6 9.9 852 8468 0.10 2.40 0.00 0.000 4 0.105 0.075 2756 3921 1267

8531 1.30 354.0 70.6 13.7 864 8538 0.15 2.28 0.00 0.000 6 0.173 0.049 2720 2494 1266

8875 1.47 391.9 38.8 8.2 925 8913 0.12 0.00 32.70 1.082 6 0.101 0.000 2764 2493 1109

9250 1.55 401.9 2.9 9.5 991 9265 0.00 2.45 8.02 0.952 4 0.000 0.077 2764 3916 1067

9269 end climb: SURFACE_DEPTH_REACHED

state 9269 begin surface coast

9275 end surface coast: CONTROL_FINISHED_OK

state 9275 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	16	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	25	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	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	-22360.34	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	064208,6638.432,-6024.053,25,1.9,25,-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	1.21	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-64.7	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	064645,6638.383,-6023.982,8,1.6,8,-37.9	MHEAD_RNG_PITCHd_Wd	337.1,15458,-18.0,-10.000
SPEED_LIMITS	0.173,0.259	D_GRID	505

FINISH	0.3,1.024571	XPDR_PINGS	0
SM_CCo	9352,0.00,0.000,0,0,1065,403.03	_24V_AH	21.7,10.258
SM_GC	1.34,7.60,0.00,0.00,0.087,0.000,0.000,164,2301,1065,-10.39,0.03,403.03	_10V_AH	10.6,2.867
RAFOS_CLK	511	DATA_FILE_SIZE	37872,995
RAFOS	0,1220774643,8.083333,8.067500,64,58,56,54,52,51,194,162,132,217,171,149	CAP_FILE_SIZE	101476,0
RAFOS_FIX	6746.988770,-5823.083496,070908,040440,5,63,123.78	CFSIZE	260165632,250912768
IRIDIUM_FIX	6609.62,-6019.34,021297,040428	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
TT8_MAMPS	0.027612	SOUNDSPEED	1451.4
HUMID	1939	CURRENT	0.094,183.6,1
INTERNAL_PRESSURE	8.50619	GPS	070908,092408,6638.275,-6027.215,28,1.2,28,-37.9
TCM_TEMP	15.40

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	21	272	127.48	SBE_CT	776	24	404.56
Roll_motor	91	85	168.44	SBE_O2	676	19	278.76
VBD_pump_during_apogee	478	1295	13459.81	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	23	103	52.07	nil	0	0	0.00
Iridium_during_connect	33	160	116.42	nil	0	0	0.00
Iridium_during_xfer	128	223	619.78
Transponder_ping	0	420	0.00
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	10	50	5.40
TT8	1738	19	367.00
LPSleep	5374	2	131.60
TT8_Active	599	19	126.67
TT8_Sampling	1624	39	687.21
TT8_CF8	297	45	144.71
TT8_Kalman	0	0	0.00
Analog_circuits	1474	12	187.51
GPS_charging	0	0	0.00
Compass	1612	8	136.78
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
14	-1.42	-146.0	0.0	0.0	0	133	0.00	0.00	-115.72	0.000	2	0.000	0.000	168	2290	2781
135	-1.42	-146.0	3.2	-4.9	18	168	8.32	2.45	-14.98	0.000	4	0.272	0.085	2121	3707	3307
320	-1.20	-146.0	49.2	-18.7	50	327	0.20	2.28	0.00	0.000	6	0.191	0.047	2171	2286	3311
664	-1.13	-146.0	101.7	-14.8	110	668	0.00	2.40	0.00	0.000	4	0.000	0.075	2171	3717	3314
701	-1.13	-146.0	107.4	-14.8	113	710	0.00	2.28	0.00	0.000	6	0.000	0.045	2171	2297	3314
1028	-1.13	-146.0	151.2	-13.3	144	1031	0.00	2.25	0.00	0.000	4	0.000	0.061	2172	883	3315
1095	-1.08	-146.0	160.6	-13.6	150	1100	0.12	2.30	0.00	0.000	6	0.199	0.058	2201	2311	3314
1425	-1.18	-146.0	199.1	-11.5	181	1430	0.10	2.30	0.00	0.000	4	0.117	0.077	2167	3707	3314
1502	-1.24	-146.0	209.2	-12.8	187	1508	0.00	2.25	0.00	0.000	6	0.000	0.047	2167	2294	3314
1828	-1.24	-146.0	251.0	-12.4	218	1830	0.00	0.00	0.00	0.000	6	0.000	0.000	2167	2294	3314
2144	-1.24	-146.0	292.0	-12.5	248	2146	0.00	0.00	0.00	0.000	6	0.000	0.000	2167	2294	3313
2464	-1.24	-146.0	331.4	-11.9	278	2467	0.00	2.22	0.00	0.000	4	0.000	0.062	2167	884	3312
2546	-1.24	-146.0	341.9	-12.1	285	2553	0.00	2.30	0.00	0.000	6	0.000	0.058	2167	2305	3312
2872	-1.30	-146.0	379.4	-11.3	316	2875	0.00	2.30	0.00	0.000	4	0.000	0.076	2167	3721	3312
2928	-1.42	-146.0	385.8	-10.8	321	2932	0.15	2.22	0.00	0.000	6	0.113	0.047	2120	2290	3312
3256	-1.34	-146.0	430.1	-13.4	352	3258	0.10	0.00	0.00	0.000	6	0.207	0.000	2142	2290	3311
3575	-1.34	-146.0	469.3	-12.1	382	3580	0.00	2.20	0.00	0.000	4	0.000	0.061	2142	893	3311
3635	-1.34	-146.0	477.0	-12.2	387	3643	0.00	2.28	0.00	0.000	6	0.000	0.058	2142	2301	3311
3886	end dive: TARGET_DEPTH_EXCEEDED
state	3886	begin apogee
3891	-0.34	0.0	506.1	11.6	411	4020	0.70	0.00	125.35	1.295	6	0.178	0.000	2355	2510	2708
4020	end apogee: CONTROL_FINISHED_OK
state	4020	begin climb
4022	1.42	146.0	510.8	0.0	424	4163	1.27	2.67	130.52	1.205	4	0.117	0.058	2744	1091	2111
4168	1.11	146.0	502.3	10.6	438	4175	0.28	2.60	0.00	0.000	6	0.167	0.054	2679	2503	2111
4493	1.04	165.0	472.7	9.1	469	4517	0.00	2.53	16.90	1.156	4	0.000	0.076	2679	3909	2035
4611	0.84	165.0	460.2	11.5	479	4620	0.17	2.38	0.00	0.000	6	0.163	0.045	2617	2504	2033
4937	1.04	224.8	436.9	7.2	510	4994	0.15	2.67	51.05	1.206	4	0.092	0.075	2669	3916	1791
5017	0.95	224.8	429.1	11.0	517	5022	0.15	2.42	0.00	0.000	6	0.169	0.044	2640	2501	1790
5341	1.10	257.0	400.4	8.5	547	5376	0.12	2.62	27.85	1.174	4	0.101	0.075	2681	3909	1660
5455	1.00	257.0	387.3	13.7	557	5460	0.12	2.38	0.00	0.000	6	0.171	0.045	2652	2494	1659
5780	1.13	276.1	357.6	9.1	587	5803	0.12	2.53	16.98	1.137	4	0.102	0.076	2694	3910	1581
5827	1.04	276.1	352.3	12.3	591	5831	0.15	2.35	0.00	0.000	6	0.170	0.045	2661	2492	1581
6156	1.18	296.7	320.8	9.0	622	6181	0.12	2.58	18.27	1.133	4	0.102	0.075	2704	3914	1498
6227	1.07	296.7	312.4	13.7	628	6232	0.15	2.33	0.00	0.000	6	0.169	0.045	2667	2499	1497
6556	1.21	309.2	280.4	9.4	659	6571	0.12	0.00	11.62	1.079	6	0.100	0.000	2710	2498	1447
6884	1.21	309.2	242.2	11.3	690	6888	0.00	2.40	0.00	0.000	4	0.000	0.075	2710	3910	1445
6962	1.10	309.2	232.3	12.9	697	6967	0.15	2.28	0.00	0.000	6	0.171	0.045	2677	2488	1446
7292	1.26	323.0	200.8	9.3	728	7314	0.12	2.50	12.55	1.076	4	0.100	0.076	2721	3910	1391
7364	1.17	323.0	191.5	14.3	734	7371	0.10	2.30	0.00	0.000	6	0.166	0.046	2691	2501	1391
7689	1.33	343.8	160.2	9.0	765	7713	0.12	2.50	18.35	1.095	4	0.099	0.074	2735	3914	1306
7770	1.23	343.8	150.2	14.0	772	7775	0.15	2.30	0.00	0.000	6	0.170	0.047	2697	2497	1304
8094	1.39	352.9	118.1	9.6	802	8109	0.15	2.45	8.62	1.002	4	0.095	0.074	2751	3907	1268
8126	1.32	352.9	114.3	12.6	805	8131	0.15	2.28	0.00	0.000	6	0.175	0.047	2720	2497	1267
8462	1.43	354.0	79.6	9.9	852	8468	0.10	2.40	0.00	0.000	4	0.105	0.075	2756	3921	1267
8531	1.30	354.0	70.6	13.7	864	8538	0.15	2.28	0.00	0.000	6	0.173	0.049	2720	2494	1266
8875	1.47	391.9	38.8	8.2	925	8913	0.12	0.00	32.70	1.082	6	0.101	0.000	2764	2493	1109
9250	1.55	401.9	2.9	9.5	991	9265	0.00	2.45	8.02	0.952	4	0.000	0.077	2764	3916	1067
9269	end climb: SURFACE_DEPTH_REACHED
state	9269	begin surface coast
9275	end surface coast: CONTROL_FINISHED_OK
state	9275	begin surface