Glider dive log

DavisStrait Sep08 * SG113 * Dive index * Mission links * Dive 212 * 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 212 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 275 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 34 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 26 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 -25878.695 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 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 275

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 70 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 -25878.695

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 34 VBD_BLEED_AD_RATE 8

C_VBD 2420 MAX_BUOY 150 R_STBD_OVSHOOT 26 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 212 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 070538,6639.314,-6039.620,41,2.0,41,-38.0 TGT_NAME TARGET_W_IN

_CALLS 1 TGT_LATLONG 6642.000,-6043.000

_XMS_NAKs 4 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.081,0.209

_SM_DEPTHo 1.49 KALMAN_X 21271.9,245.1,-325.2,-162997.9,-166.6

_SM_ANGLEo -54.5 KALMAN_Y -4914.4,-1786.1,-75.5,-22162.9,-40.6

GPS2 071151,6639.245,-6039.827,22,2.0,22,-38.0 MHEAD_RNG_PITCHd_Wd 16.8,5606,-12.9,-7.021

SPEED_LIMITS 0.122,0.224 D_GRID 472

Post-dive calculations and measurements:

FINISH 1.0,1.025418 TCM_TEMP 15.10

SM_CCo 12567,0.00,0.000,0,0,1179,304.42 XPDR_PINGS 1

SM_GC 1.70,7.20,0.00,0.00,0.073,0.000,0.000,166,2327,1179,-10.37,-0.37,304.42 _24V_AH 21.2,42.667

RAFOS_CLK 729 _10V_AH 10.5,17.989

RAFOS 0,1224749044,8.083333,8.067778,75,66,59,58,57,56,622,178,208,197,166,154 DATA_FILE_SIZE 31506,852

RAFOS_FIX 6749.064941,-5736.765137,231008,080856,4,90,42.67 CAP_FILE_SIZE 108187,0

IRIDIUM_FIX 6609.62,-6038.83,170198,030331 CFSIZE 260165632,234987520

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

HUMID 1876 SOUNDSPEED 1445.8

INTERNAL_PRESSURE 8.48665 GPS 231008,104437,6640.956,-6042.856,40,0.9,52,-38.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 21 269 124.78 SBE_CT 668 24 339.97

Roll_motor 102 78 169.34 SBE_O2 578 19 233.17

VBD_pump_during_apogee 399 1227 10397.55 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 64.60 nil 0 0 0.00

Iridium_during_connect 77 160 263.61 nil 0 0 0.00

Iridium_during_xfer 143 223 676.90

Transponder_ping 0 420 2.23

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 24 50 12.78

TT8 1553 19 324.92

LPSleep 8876 2 215.29

TT8_Active 544 19 113.93

TT8_Sampling 1579 39 662.18

TT8_CF8 437 45 210.95

TT8_Kalman 33 81 28.71

Analog_circuits 1406 12 177.20

GPS_charging 0 0 0.00

Compass 1554 8 130.61

RAFOS 1800 1 28.35

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

13 end surface: CONTROL_FINISHED_OK

state 13 begin dive

15 -1.08 -145.8 0.0 0.0 0 149 0.00 0.00 -131.23 0.000 2 0.000 0.000 156 2328 2822

152 -1.08 -146.0 3.4 -3.2 23 178 8.98 2.33 -6.68 0.000 4 0.270 0.071 2198 932 3019

240 -0.46 -146.0 24.3 -22.0 38 247 0.50 2.30 0.00 0.000 6 0.183 0.057 2337 2345 3021

585 -0.53 -146.0 56.6 -7.2 99 591 0.00 2.33 0.00 0.000 4 0.000 0.074 2337 3746 3022

721 -0.67 -146.0 66.5 -7.4 123 728 0.17 2.22 0.00 0.000 6 0.085 0.044 2274 2329 3023

1080 -0.60 -146.0 101.8 -9.1 184 1084 0.12 2.22 0.00 0.000 4 0.159 0.060 2308 938 3023

1185 -0.60 -146.0 110.8 -8.1 188 1191 0.00 2.30 0.00 0.000 6 0.000 0.056 2308 2368 3023

1501 -0.69 -146.0 134.1 -7.1 204 1505 0.00 2.28 0.00 0.000 4 0.000 0.074 2308 3749 3023

1614 -0.82 -146.0 142.1 -6.8 209 1618 0.17 2.22 0.00 0.000 6 0.090 0.045 2245 2327 3023

1940 -0.71 -146.0 173.1 -9.7 225 1944 0.15 2.22 0.00 0.000 4 0.165 0.059 2284 936 3023

2052 -0.71 -146.0 182.9 -8.7 230 2056 0.00 2.28 0.00 0.000 6 0.000 0.056 2285 2356 3022

2384 -0.76 -146.0 208.4 -8.0 246 2385 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 2356 3022

2693 -0.83 -146.0 232.0 -7.5 261 2698 0.12 2.30 0.00 0.000 4 0.097 0.072 2236 3748 3022

2748 -0.77 -146.0 237.1 -9.5 263 2753 0.12 2.22 0.00 0.000 6 0.171 0.046 2268 2329 3022

3069 -0.77 -146.0 261.6 -6.7 279 3073 0.00 2.22 0.00 0.000 4 0.000 0.062 2268 936 3021

3141 -0.77 -146.0 266.9 -7.2 282 3145 0.00 2.28 0.00 0.000 6 0.000 0.056 2268 2334 3021

3468 -0.77 -146.0 286.7 -6.2 298 3472 0.00 2.35 0.00 0.000 4 0.000 0.074 2268 3752 3021

3582 -0.84 -146.0 294.2 -6.6 303 3586 0.00 2.22 0.00 0.000 6 0.000 0.045 2268 2327 3021

3913 -0.90 -146.0 318.1 -7.5 319 3915 0.10 0.00 0.00 0.000 6 0.107 0.000 2233 2327 3021

4223 -0.83 -146.0 344.2 -8.1 334 4225 0.10 0.00 0.00 0.000 6 0.171 0.000 2257 2327 3021

4531 -0.83 -146.0 366.8 -7.1 349 4535 0.00 2.38 0.00 0.000 4 0.000 0.074 2257 3756 3021

4604 -0.91 -146.0 372.0 -7.1 352 4608 0.00 2.22 0.00 0.000 6 0.000 0.045 2258 2336 3021

4931 -0.96 -146.0 395.0 -7.0 368 4933 0.12 0.00 0.00 0.000 6 0.102 0.000 2214 2337 3021

5236 -0.86 -146.0 422.6 -9.2 377 5238 0.12 0.00 0.00 0.000 6 0.164 0.000 2245 2336 3021

5560 -0.86 -146.0 448.2 -7.5 385 5564 0.00 2.35 0.00 0.000 4 0.000 0.072 2245 3747 3021

5701 -0.93 -146.0 459.1 -7.1 388 5705 0.00 2.22 0.00 0.000 6 0.000 0.045 2245 2328 3021

5889 end dive: TARGET_DEPTH_EXCEEDED

state 5889 begin apogee

5895 -0.34 0.0 472.1 6.7 393 6027 0.38 0.00 129.18 1.227 6 0.143 0.000 2361 2525 2420

6027 end apogee: CONTROL_FINISHED_OK

state 6027 begin climb

6030 1.08 146.0 475.5 0.0 396 6173 1.05 2.75 133.38 1.131 4 0.117 0.071 2665 3932 1823

6180 0.99 146.0 467.2 7.4 399 6184 0.00 2.53 0.00 0.000 6 0.000 0.042 2665 2522 1823

6516 0.88 146.0 441.2 7.6 408 6518 0.15 0.00 0.00 0.000 6 0.150 0.000 2626 2522 1821

6841 0.97 174.4 421.3 6.1 416 6870 0.00 2.47 24.27 1.144 4 0.000 0.071 2625 3943 1709

6893 0.97 174.4 417.3 8.8 417 6897 0.00 2.33 0.00 0.000 6 0.000 0.043 2625 2512 1708

7213 1.05 179.4 395.4 6.9 426 7222 0.15 0.00 5.88 0.920 6 0.083 0.000 2684 2511 1688

7522 0.94 179.4 368.3 8.6 441 7527 0.17 2.38 0.00 0.000 4 0.140 0.070 2633 3936 1687

7554 0.94 179.4 365.7 7.6 442 7561 0.00 2.22 0.00 0.000 6 0.000 0.044 2634 2513 1687

7871 1.06 218.7 347.8 5.7 458 7914 0.12 2.47 33.30 1.144 4 0.089 0.071 2682 3926 1527

7930 0.93 218.7 343.0 8.3 460 7937 0.17 2.28 0.00 0.000 6 0.143 0.043 2634 2514 1526

8246 1.09 239.9 323.5 6.3 476 8267 0.12 0.00 18.48 1.095 6 0.089 0.000 2682 2513 1442

8575 1.09 239.9 298.4 7.0 492 8578 0.00 2.38 0.00 0.000 4 0.000 0.071 2682 3937 1441

8620 0.96 239.9 294.7 8.9 494 8624 0.15 2.25 0.00 0.000 6 0.146 0.044 2640 2506 1441

8946 1.26 239.9 273.6 7.3 510 8950 0.20 2.22 0.00 0.000 4 0.077 0.056 2721 1109 1440

9023 1.20 239.9 267.1 8.7 513 9028 0.10 2.28 0.00 0.000 6 0.144 0.053 2694 2536 1440

9344 1.31 239.9 241.8 8.0 529 9349 0.10 2.28 0.00 0.000 4 0.091 0.071 2734 3925 1440

9354 1.35 239.9 240.8 8.1 529 9361 0.00 2.20 0.00 0.000 6 0.000 0.044 2735 2508 1441

9670 1.21 239.9 210.8 10.1 545 9674 0.15 2.22 0.00 0.000 4 0.146 0.059 2691 1113 1440

9708 1.21 239.9 207.5 8.1 546 9714 0.00 2.25 0.00 0.000 6 0.000 0.053 2691 2527 1439

10023 1.21 239.9 182.9 8.0 562 10024 0.00 0.00 0.00 0.000 6 0.000 0.000 2691 2527 1440

10332 1.21 239.9 157.8 7.8 577 10333 0.00 0.00 0.00 0.000 6 0.000 0.000 2691 2527 1439

10642 1.21 242.1 134.8 6.9 592 10643 0.00 0.00 0.00 0.000 6 0.000 0.000 2691 2527 1439

10951 1.22 249.6 114.4 6.8 607 10965 0.00 2.33 9.25 0.996 4 0.000 0.074 2691 3936 1402

10976 1.22 249.6 112.6 7.8 608 10980 0.00 2.22 0.00 0.000 6 0.000 0.044 2691 2517 1401

11304 1.31 268.5 89.9 6.4 643 11328 0.12 0.00 17.08 1.042 6 0.085 0.000 2742 2517 1325

11666 1.23 268.5 58.8 9.0 707 11673 0.15 2.38 0.00 0.000 4 0.146 0.072 2698 3930 1323

11718 1.23 268.5 54.2 8.5 716 11724 0.00 2.22 0.00 0.000 6 0.000 0.046 2698 2520 1322

12062 1.57 302.4 30.4 5.9 777 12098 0.25 2.42 28.85 1.026 4 0.079 0.074 2794 3933 1185

12121 1.36 302.4 25.6 8.3 787 12128 0.25 2.30 0.00 0.000 6 0.150 0.047 2729 2511 1183

12465 1.36 302.4 3.1 10.3 848 12472 0.00 2.38 0.00 0.000 4 0.000 0.073 2728 3928 1181

12476 end climb: SURFACE_DEPTH_REACHED

state 12476 begin surface coast

12488 end surface coast: CONTROL_FINISHED_OK

state 12488 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	212	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	275	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	34	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	26	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	-25878.695	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	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	070538,6639.314,-6039.620,41,2.0,41,-38.0	TGT_NAME	TARGET_W_IN
_CALLS	1	TGT_LATLONG	6642.000,-6043.000
_XMS_NAKs	4	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.081,0.209
_SM_DEPTHo	1.49	KALMAN_X	21271.9,245.1,-325.2,-162997.9,-166.6
_SM_ANGLEo	-54.5	KALMAN_Y	-4914.4,-1786.1,-75.5,-22162.9,-40.6
GPS2	071151,6639.245,-6039.827,22,2.0,22,-38.0	MHEAD_RNG_PITCHd_Wd	16.8,5606,-12.9,-7.021
SPEED_LIMITS	0.122,0.224	D_GRID	472

FINISH	1.0,1.025418	TCM_TEMP	15.10
SM_CCo	12567,0.00,0.000,0,0,1179,304.42	XPDR_PINGS	1
SM_GC	1.70,7.20,0.00,0.00,0.073,0.000,0.000,166,2327,1179,-10.37,-0.37,304.42	_24V_AH	21.2,42.667
RAFOS_CLK	729	_10V_AH	10.5,17.989
RAFOS	0,1224749044,8.083333,8.067778,75,66,59,58,57,56,622,178,208,197,166,154	DATA_FILE_SIZE	31506,852
RAFOS_FIX	6749.064941,-5736.765137,231008,080856,4,90,42.67	CAP_FILE_SIZE	108187,0
IRIDIUM_FIX	6609.62,-6038.83,170198,030331	CFSIZE	260165632,234987520
TT8_MAMPS	0.027612	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
HUMID	1876	SOUNDSPEED	1445.8
INTERNAL_PRESSURE	8.48665	GPS	231008,104437,6640.956,-6042.856,40,0.9,52,-38.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	21	269	124.78	SBE_CT	668	24	339.97
Roll_motor	102	78	169.34	SBE_O2	578	19	233.17
VBD_pump_during_apogee	399	1227	10397.55	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	64.60	nil	0	0	0.00
Iridium_during_connect	77	160	263.61	nil	0	0	0.00
Iridium_during_xfer	143	223	676.90
Transponder_ping	0	420	2.23
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	24	50	12.78
TT8	1553	19	324.92
LPSleep	8876	2	215.29
TT8_Active	544	19	113.93
TT8_Sampling	1579	39	662.18
TT8_CF8	437	45	210.95
TT8_Kalman	33	81	28.71
Analog_circuits	1406	12	177.20
GPS_charging	0	0	0.00
Compass	1554	8	130.61
RAFOS	1800	1	28.35
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
13	end surface: CONTROL_FINISHED_OK
state	13	begin dive
15	-1.08	-145.8	0.0	0.0	0	149	0.00	0.00	-131.23	0.000	2	0.000	0.000	156	2328	2822
152	-1.08	-146.0	3.4	-3.2	23	178	8.98	2.33	-6.68	0.000	4	0.270	0.071	2198	932	3019
240	-0.46	-146.0	24.3	-22.0	38	247	0.50	2.30	0.00	0.000	6	0.183	0.057	2337	2345	3021
585	-0.53	-146.0	56.6	-7.2	99	591	0.00	2.33	0.00	0.000	4	0.000	0.074	2337	3746	3022
721	-0.67	-146.0	66.5	-7.4	123	728	0.17	2.22	0.00	0.000	6	0.085	0.044	2274	2329	3023
1080	-0.60	-146.0	101.8	-9.1	184	1084	0.12	2.22	0.00	0.000	4	0.159	0.060	2308	938	3023
1185	-0.60	-146.0	110.8	-8.1	188	1191	0.00	2.30	0.00	0.000	6	0.000	0.056	2308	2368	3023
1501	-0.69	-146.0	134.1	-7.1	204	1505	0.00	2.28	0.00	0.000	4	0.000	0.074	2308	3749	3023
1614	-0.82	-146.0	142.1	-6.8	209	1618	0.17	2.22	0.00	0.000	6	0.090	0.045	2245	2327	3023
1940	-0.71	-146.0	173.1	-9.7	225	1944	0.15	2.22	0.00	0.000	4	0.165	0.059	2284	936	3023
2052	-0.71	-146.0	182.9	-8.7	230	2056	0.00	2.28	0.00	0.000	6	0.000	0.056	2285	2356	3022
2384	-0.76	-146.0	208.4	-8.0	246	2385	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	2356	3022
2693	-0.83	-146.0	232.0	-7.5	261	2698	0.12	2.30	0.00	0.000	4	0.097	0.072	2236	3748	3022
2748	-0.77	-146.0	237.1	-9.5	263	2753	0.12	2.22	0.00	0.000	6	0.171	0.046	2268	2329	3022
3069	-0.77	-146.0	261.6	-6.7	279	3073	0.00	2.22	0.00	0.000	4	0.000	0.062	2268	936	3021
3141	-0.77	-146.0	266.9	-7.2	282	3145	0.00	2.28	0.00	0.000	6	0.000	0.056	2268	2334	3021
3468	-0.77	-146.0	286.7	-6.2	298	3472	0.00	2.35	0.00	0.000	4	0.000	0.074	2268	3752	3021
3582	-0.84	-146.0	294.2	-6.6	303	3586	0.00	2.22	0.00	0.000	6	0.000	0.045	2268	2327	3021
3913	-0.90	-146.0	318.1	-7.5	319	3915	0.10	0.00	0.00	0.000	6	0.107	0.000	2233	2327	3021
4223	-0.83	-146.0	344.2	-8.1	334	4225	0.10	0.00	0.00	0.000	6	0.171	0.000	2257	2327	3021
4531	-0.83	-146.0	366.8	-7.1	349	4535	0.00	2.38	0.00	0.000	4	0.000	0.074	2257	3756	3021
4604	-0.91	-146.0	372.0	-7.1	352	4608	0.00	2.22	0.00	0.000	6	0.000	0.045	2258	2336	3021
4931	-0.96	-146.0	395.0	-7.0	368	4933	0.12	0.00	0.00	0.000	6	0.102	0.000	2214	2337	3021
5236	-0.86	-146.0	422.6	-9.2	377	5238	0.12	0.00	0.00	0.000	6	0.164	0.000	2245	2336	3021
5560	-0.86	-146.0	448.2	-7.5	385	5564	0.00	2.35	0.00	0.000	4	0.000	0.072	2245	3747	3021
5701	-0.93	-146.0	459.1	-7.1	388	5705	0.00	2.22	0.00	0.000	6	0.000	0.045	2245	2328	3021
5889	end dive: TARGET_DEPTH_EXCEEDED
state	5889	begin apogee
5895	-0.34	0.0	472.1	6.7	393	6027	0.38	0.00	129.18	1.227	6	0.143	0.000	2361	2525	2420
6027	end apogee: CONTROL_FINISHED_OK
state	6027	begin climb
6030	1.08	146.0	475.5	0.0	396	6173	1.05	2.75	133.38	1.131	4	0.117	0.071	2665	3932	1823
6180	0.99	146.0	467.2	7.4	399	6184	0.00	2.53	0.00	0.000	6	0.000	0.042	2665	2522	1823
6516	0.88	146.0	441.2	7.6	408	6518	0.15	0.00	0.00	0.000	6	0.150	0.000	2626	2522	1821
6841	0.97	174.4	421.3	6.1	416	6870	0.00	2.47	24.27	1.144	4	0.000	0.071	2625	3943	1709
6893	0.97	174.4	417.3	8.8	417	6897	0.00	2.33	0.00	0.000	6	0.000	0.043	2625	2512	1708
7213	1.05	179.4	395.4	6.9	426	7222	0.15	0.00	5.88	0.920	6	0.083	0.000	2684	2511	1688
7522	0.94	179.4	368.3	8.6	441	7527	0.17	2.38	0.00	0.000	4	0.140	0.070	2633	3936	1687
7554	0.94	179.4	365.7	7.6	442	7561	0.00	2.22	0.00	0.000	6	0.000	0.044	2634	2513	1687
7871	1.06	218.7	347.8	5.7	458	7914	0.12	2.47	33.30	1.144	4	0.089	0.071	2682	3926	1527
7930	0.93	218.7	343.0	8.3	460	7937	0.17	2.28	0.00	0.000	6	0.143	0.043	2634	2514	1526
8246	1.09	239.9	323.5	6.3	476	8267	0.12	0.00	18.48	1.095	6	0.089	0.000	2682	2513	1442
8575	1.09	239.9	298.4	7.0	492	8578	0.00	2.38	0.00	0.000	4	0.000	0.071	2682	3937	1441
8620	0.96	239.9	294.7	8.9	494	8624	0.15	2.25	0.00	0.000	6	0.146	0.044	2640	2506	1441
8946	1.26	239.9	273.6	7.3	510	8950	0.20	2.22	0.00	0.000	4	0.077	0.056	2721	1109	1440
9023	1.20	239.9	267.1	8.7	513	9028	0.10	2.28	0.00	0.000	6	0.144	0.053	2694	2536	1440
9344	1.31	239.9	241.8	8.0	529	9349	0.10	2.28	0.00	0.000	4	0.091	0.071	2734	3925	1440
9354	1.35	239.9	240.8	8.1	529	9361	0.00	2.20	0.00	0.000	6	0.000	0.044	2735	2508	1441
9670	1.21	239.9	210.8	10.1	545	9674	0.15	2.22	0.00	0.000	4	0.146	0.059	2691	1113	1440
9708	1.21	239.9	207.5	8.1	546	9714	0.00	2.25	0.00	0.000	6	0.000	0.053	2691	2527	1439
10023	1.21	239.9	182.9	8.0	562	10024	0.00	0.00	0.00	0.000	6	0.000	0.000	2691	2527	1440
10332	1.21	239.9	157.8	7.8	577	10333	0.00	0.00	0.00	0.000	6	0.000	0.000	2691	2527	1439
10642	1.21	242.1	134.8	6.9	592	10643	0.00	0.00	0.00	0.000	6	0.000	0.000	2691	2527	1439
10951	1.22	249.6	114.4	6.8	607	10965	0.00	2.33	9.25	0.996	4	0.000	0.074	2691	3936	1402
10976	1.22	249.6	112.6	7.8	608	10980	0.00	2.22	0.00	0.000	6	0.000	0.044	2691	2517	1401
11304	1.31	268.5	89.9	6.4	643	11328	0.12	0.00	17.08	1.042	6	0.085	0.000	2742	2517	1325
11666	1.23	268.5	58.8	9.0	707	11673	0.15	2.38	0.00	0.000	4	0.146	0.072	2698	3930	1323
11718	1.23	268.5	54.2	8.5	716	11724	0.00	2.22	0.00	0.000	6	0.000	0.046	2698	2520	1322
12062	1.57	302.4	30.4	5.9	777	12098	0.25	2.42	28.85	1.026	4	0.079	0.074	2794	3933	1185
12121	1.36	302.4	25.6	8.3	787	12128	0.25	2.30	0.00	0.000	6	0.150	0.047	2729	2511	1183
12465	1.36	302.4	3.1	10.3	848	12472	0.00	2.38	0.00	0.000	4	0.000	0.073	2728	3928	1181
12476	end climb: SURFACE_DEPTH_REACHED
state	12476	begin surface coast
12488	end surface coast: CONTROL_FINISHED_OK
state	12488	begin surface