Glider dive log

DavisStrait Sep08 * SG113 * Dive index * Mission links * Dive 28 * 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 28 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 2330 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LON -158.3 C_ROLL_CLIMB 2580 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 30 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 412 UPLOAD_DIVES_MAX -1 VBD_MIN 144 DEVICE2 20

T_MISSION 470 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 -22593.461 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 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 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 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 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 412

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 -22593.461

CAPMAXSIZE 100000 HD_C 3.1312e-05 RHO 1.02765 T_MISSION 470

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 2580 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 2330 MASS 51576 R_PORT_OVSHOOT 30 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 28 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 193137,6642.960,-6035.021,35,1.9,35,-38.1 TGT_NAME TARGET_ADD1_EB

_CALLS 1 TGT_LATLONG 6647.000,-5956.000

_XMS_NAKs 0 TGT_RADIUS 10000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.25 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -65.7 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 193650,6642.945,-6035.019,10,1.8,15,-38.1 MHEAD_RNG_PITCHd_Wd 127.2,29460,-14.7,-8.010

SPEED_LIMITS 0.139,0.238 D_GRID 502

Post-dive calculations and measurements:

FINISH 0.6,1.014275 XPDR_PINGS 0

SM_CCo 11401,11.25,1.012,0,0,1178,375.06 _24V_AH 21.7,12.278

SM_GC 1.55,0.00,0.00,11.25,0.000,0.000,1.012,163,2319,1178,-10.46,-0.31,375.06 _10V_AH 10.6,3.649

RAFOS_CLK 639 DATA_FILE_SIZE 44095,1227

RAFOS 0,1220904245,20.083334,20.068056,64,59,56,54,53,50,207,157,184,129,221,169 CAP_FILE_SIZE 119449,0

RAFOS_FIX 6745.631348,-5824.179688,080908,202008,4,63,50.05 CFSIZE 260165632,250159104

IRIDIUM_FIX 6614.97,-6038.24,031297,161620 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TT8_MAMPS 0.029146 SOUNDSPEED 1451.3

HUMID 1935 CURRENT 0.063,249.7,1

INTERNAL_PRESSURE 8.52572 GPS 080908,224938,6642.863,-6031.797,38,1.2,38,-38.1

TCM_TEMP 15.40

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 273 121.17 SBE_CT 959 24 499.70

Roll_motor 101 84 185.55 SBE_O2 838 19 345.72

VBD_pump_during_apogee 446 1295 12544.08 nil 0 0 0.00

VBD_pump_during_surface 11 1012 247.16 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 33 103 73.99 nil 0 0 0.00

Iridium_during_connect 41 160 144.77 nil 0 0 0.00

Iridium_during_xfer 135 223 654.91

Transponder_ping 0 420 0.00

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 16 50 8.80

TT8 2162 19 456.54

LPSleep 6719 2 164.54

TT8_Active 594 19 125.60

TT8_Sampling 1953 39 826.45

TT8_CF8 351 45 170.91

TT8_Kalman 0 0 0.00

Analog_circuits 1620 12 206.08

GPS_charging 0 0 0.00

Compass 1937 8 164.30

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 -1.20 -146.0 0.0 0.0 0 142 0.00 0.00 -124.28 0.000 2 0.000 0.000 166 2341 2844

144 -1.20 -146.0 3.7 -5.1 20 172 8.57 2.42 -12.60 0.000 4 0.273 0.084 2165 3740 3308

217 -0.69 -146.0 25.5 -27.5 32 225 0.45 2.30 0.00 0.000 6 0.180 0.048 2289 2319 3311

563 -0.82 -146.0 59.6 -8.6 93 570 0.12 2.25 0.00 0.000 4 0.110 0.058 2248 919 3315

609 -0.82 -146.0 64.7 -11.6 101 616 0.00 2.30 0.00 0.000 6 0.000 0.054 2247 2345 3315

951 -0.82 -146.0 102.5 -10.3 160 955 0.00 2.30 0.00 0.000 4 0.000 0.072 2248 3745 3317

975 -0.90 -146.0 104.7 -10.0 162 979 0.00 2.22 0.00 0.000 6 0.000 0.044 2248 2327 3316

1305 -0.97 -146.0 136.8 -9.6 193 1307 0.08 0.00 0.00 0.000 6 0.144 0.000 2219 2327 3316

1623 -0.97 -146.0 169.5 -10.2 223 1627 0.00 2.33 0.00 0.000 4 0.000 0.074 2219 3735 3316

1661 -1.02 -146.0 173.6 -11.0 226 1665 0.00 2.20 0.00 0.000 6 0.000 0.045 2219 2330 3315

1991 -1.02 -146.0 205.9 -9.2 257 1994 0.00 2.22 0.00 0.000 4 0.000 0.061 2219 924 3315

2017 -1.02 -146.0 208.7 -10.2 259 2024 0.00 2.28 0.00 0.000 6 0.000 0.055 2219 2329 3315

2343 -1.02 -146.0 240.3 -9.7 290 2346 0.00 2.25 0.00 0.000 4 0.000 0.061 2219 924 3314

2369 -1.02 -146.0 243.2 -10.9 292 2376 0.00 2.28 0.00 0.000 6 0.000 0.055 2219 2334 3314

2695 -1.08 -146.0 274.3 -9.6 323 2699 0.00 2.25 0.00 0.000 4 0.000 0.062 2219 925 3313

2732 -1.08 -146.0 278.2 -9.5 326 2740 0.00 2.28 0.00 0.000 6 0.000 0.056 2219 2334 3313

3058 -1.15 -146.0 308.3 -9.0 357 3063 0.12 2.25 0.00 0.000 4 0.123 0.061 2177 924 3313

3108 -1.04 -146.0 313.9 -11.7 361 3113 0.12 2.25 0.00 0.000 6 0.191 0.055 2206 2342 3313

3432 -1.09 -146.0 345.0 -9.7 391 3433 0.00 0.00 0.00 0.000 6 0.000 0.000 2206 2341 3313

3751 -1.15 -146.0 374.4 -8.5 421 3755 0.00 2.28 0.00 0.000 4 0.000 0.074 2206 3740 3313

3796 -1.26 -146.0 378.2 -8.7 425 3801 0.17 2.20 0.00 0.000 6 0.108 0.045 2148 2321 3313

4120 -1.11 -146.0 415.0 -11.6 455 4124 0.17 2.33 0.00 0.000 4 0.182 0.075 2192 3744 3312

4129 -0.99 -146.0 416.1 -11.4 455 4136 0.08 2.22 0.00 0.000 6 0.170 0.044 2215 2329 3312

4454 -1.11 -146.0 442.8 -8.2 486 4455 0.00 0.00 0.00 0.000 6 0.000 0.000 2215 2329 3312

4773 -1.22 -146.0 469.1 -8.6 516 4778 0.17 2.33 0.00 0.000 4 0.101 0.076 2152 3742 3312

4783 -1.31 -146.0 470.0 -8.3 516 4789 0.00 2.20 0.00 0.000 6 0.000 0.044 2152 2336 3312

5073 end dive: TARGET_DEPTH_EXCEEDED

state 5074 begin apogee

5078 -0.34 0.0 502.7 11.2 544 5208 0.70 0.00 125.28 1.295 6 0.172 0.000 2362 2577 2708

5209 end apogee: CONTROL_FINISHED_OK

state 5209 begin climb

5211 1.20 146.0 507.8 0.0 557 5349 1.10 2.62 130.23 1.202 4 0.116 0.071 2692 3940 2112

5473 0.79 146.0 489.0 11.2 580 5478 0.32 2.30 0.00 0.000 6 0.165 0.044 2608 2583 2110

5797 0.84 185.6 467.7 6.5 610 5839 0.00 0.00 34.12 1.203 6 0.000 0.000 2608 2583 1950

6156 0.88 216.7 442.9 6.8 644 6191 0.00 2.47 27.23 1.192 4 0.000 0.073 2608 3944 1823

6225 0.88 216.7 437.7 8.8 650 6229 0.00 2.30 0.00 0.000 6 0.000 0.042 2608 2576 1823

6550 0.98 241.6 414.9 7.1 680 6575 0.15 0.00 21.98 1.180 6 0.094 0.000 2660 2575 1723

6889 0.90 241.6 382.6 9.5 712 6891 0.12 0.00 0.00 0.000 6 0.161 0.000 2629 2575 1721

7209 0.92 251.7 357.7 7.6 742 7224 0.00 2.38 9.80 1.091 4 0.000 0.073 2628 3951 1681

7257 0.86 251.7 353.4 9.0 746 7264 0.00 2.25 0.00 0.000 6 0.000 0.043 2628 2578 1680

7582 0.89 277.3 329.4 7.0 777 7606 0.00 0.00 22.12 1.167 6 0.000 0.000 2628 2578 1578

7921 0.98 287.0 304.4 7.6 809 7935 0.00 2.38 9.52 1.065 4 0.000 0.057 2628 1169 1537

7996 1.13 301.6 298.7 7.5 815 8015 0.17 2.33 13.55 1.099 6 0.088 0.054 2691 2582 1478

8331 1.04 301.6 262.7 10.9 847 8336 0.12 2.25 0.00 0.000 4 0.156 0.070 2658 3940 1476

8381 0.95 301.6 257.5 10.5 851 8385 0.00 2.17 0.00 0.000 6 0.000 0.044 2660 2571 1476

8711 0.95 301.6 228.7 9.0 882 8715 0.00 2.25 0.00 0.000 4 0.000 0.058 2660 1164 1476

8778 1.02 301.6 222.9 8.7 888 8782 0.00 2.30 0.00 0.000 6 0.000 0.054 2660 2588 1476

9103 1.03 304.6 196.4 7.9 918 9112 0.00 0.00 3.85 0.750 6 0.000 0.000 2660 2588 1466

9431 1.11 326.8 171.9 7.2 949 9456 0.00 2.35 19.42 1.118 4 0.000 0.072 2660 3947 1375

9478 1.11 326.8 168.2 8.3 953 9482 0.00 2.20 0.00 0.000 6 0.000 0.043 2660 2579 1374

9809 1.24 349.6 144.2 7.1 984 9834 0.15 2.40 19.60 1.097 4 0.094 0.059 2717 1166 1281

9880 1.24 349.6 137.1 10.3 990 9884 0.00 2.35 0.00 0.000 6 0.000 0.054 2717 2583 1280

10204 1.18 349.6 101.1 10.7 1020 10208 0.10 2.28 0.00 0.000 4 0.160 0.075 2692 3947 1279

10249 1.12 349.6 96.2 11.0 1026 10255 0.00 2.17 0.00 0.000 6 0.000 0.044 2692 2578 1278

10592 1.20 350.4 67.5 8.0 1087 10599 0.00 2.25 0.00 0.000 4 0.000 0.059 2692 1170 1278

10627 1.31 350.4 64.8 8.1 1093 10635 0.10 2.30 0.00 0.000 6 0.107 0.056 2727 2595 1278

10973 1.31 350.4 30.8 10.5 1154 10979 0.00 2.20 0.00 0.000 4 0.000 0.074 2727 3945 1277

11102 1.32 360.4 18.6 7.6 1177 11117 0.00 2.15 9.52 1.014 6 0.000 0.046 2728 2574 1238

11357 end climb: SURFACE_DEPTH_REACHED

state 11357 begin surface coast

11386 end surface coast: CONTROL_FINISHED_OK

state 11386 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	28	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	2330	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LON	-158.3	C_ROLL_CLIMB	2580	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	30	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	412	UPLOAD_DIVES_MAX	-1	VBD_MIN	144	DEVICE2	20
T_MISSION	470	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	-22593.461	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	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	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	193137,6642.960,-6035.021,35,1.9,35,-38.1	TGT_NAME	TARGET_ADD1_EB
_CALLS	1	TGT_LATLONG	6647.000,-5956.000
_XMS_NAKs	0	TGT_RADIUS	10000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.25	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-65.7	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	193650,6642.945,-6035.019,10,1.8,15,-38.1	MHEAD_RNG_PITCHd_Wd	127.2,29460,-14.7,-8.010
SPEED_LIMITS	0.139,0.238	D_GRID	502

FINISH	0.6,1.014275	XPDR_PINGS	0
SM_CCo	11401,11.25,1.012,0,0,1178,375.06	_24V_AH	21.7,12.278
SM_GC	1.55,0.00,0.00,11.25,0.000,0.000,1.012,163,2319,1178,-10.46,-0.31,375.06	_10V_AH	10.6,3.649
RAFOS_CLK	639	DATA_FILE_SIZE	44095,1227
RAFOS	0,1220904245,20.083334,20.068056,64,59,56,54,53,50,207,157,184,129,221,169	CAP_FILE_SIZE	119449,0
RAFOS_FIX	6745.631348,-5824.179688,080908,202008,4,63,50.05	CFSIZE	260165632,250159104
IRIDIUM_FIX	6614.97,-6038.24,031297,161620	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TT8_MAMPS	0.029146	SOUNDSPEED	1451.3
HUMID	1935	CURRENT	0.063,249.7,1
INTERNAL_PRESSURE	8.52572	GPS	080908,224938,6642.863,-6031.797,38,1.2,38,-38.1
TCM_TEMP	15.40

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	273	121.17	SBE_CT	959	24	499.70
Roll_motor	101	84	185.55	SBE_O2	838	19	345.72
VBD_pump_during_apogee	446	1295	12544.08	nil	0	0	0.00
VBD_pump_during_surface	11	1012	247.16	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	33	103	73.99	nil	0	0	0.00
Iridium_during_connect	41	160	144.77	nil	0	0	0.00
Iridium_during_xfer	135	223	654.91
Transponder_ping	0	420	0.00
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	16	50	8.80
TT8	2162	19	456.54
LPSleep	6719	2	164.54
TT8_Active	594	19	125.60
TT8_Sampling	1953	39	826.45
TT8_CF8	351	45	170.91
TT8_Kalman	0	0	0.00
Analog_circuits	1620	12	206.08
GPS_charging	0	0	0.00
Compass	1937	8	164.30
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	-1.20	-146.0	0.0	0.0	0	142	0.00	0.00	-124.28	0.000	2	0.000	0.000	166	2341	2844
144	-1.20	-146.0	3.7	-5.1	20	172	8.57	2.42	-12.60	0.000	4	0.273	0.084	2165	3740	3308
217	-0.69	-146.0	25.5	-27.5	32	225	0.45	2.30	0.00	0.000	6	0.180	0.048	2289	2319	3311
563	-0.82	-146.0	59.6	-8.6	93	570	0.12	2.25	0.00	0.000	4	0.110	0.058	2248	919	3315
609	-0.82	-146.0	64.7	-11.6	101	616	0.00	2.30	0.00	0.000	6	0.000	0.054	2247	2345	3315
951	-0.82	-146.0	102.5	-10.3	160	955	0.00	2.30	0.00	0.000	4	0.000	0.072	2248	3745	3317
975	-0.90	-146.0	104.7	-10.0	162	979	0.00	2.22	0.00	0.000	6	0.000	0.044	2248	2327	3316
1305	-0.97	-146.0	136.8	-9.6	193	1307	0.08	0.00	0.00	0.000	6	0.144	0.000	2219	2327	3316
1623	-0.97	-146.0	169.5	-10.2	223	1627	0.00	2.33	0.00	0.000	4	0.000	0.074	2219	3735	3316
1661	-1.02	-146.0	173.6	-11.0	226	1665	0.00	2.20	0.00	0.000	6	0.000	0.045	2219	2330	3315
1991	-1.02	-146.0	205.9	-9.2	257	1994	0.00	2.22	0.00	0.000	4	0.000	0.061	2219	924	3315
2017	-1.02	-146.0	208.7	-10.2	259	2024	0.00	2.28	0.00	0.000	6	0.000	0.055	2219	2329	3315
2343	-1.02	-146.0	240.3	-9.7	290	2346	0.00	2.25	0.00	0.000	4	0.000	0.061	2219	924	3314
2369	-1.02	-146.0	243.2	-10.9	292	2376	0.00	2.28	0.00	0.000	6	0.000	0.055	2219	2334	3314
2695	-1.08	-146.0	274.3	-9.6	323	2699	0.00	2.25	0.00	0.000	4	0.000	0.062	2219	925	3313
2732	-1.08	-146.0	278.2	-9.5	326	2740	0.00	2.28	0.00	0.000	6	0.000	0.056	2219	2334	3313
3058	-1.15	-146.0	308.3	-9.0	357	3063	0.12	2.25	0.00	0.000	4	0.123	0.061	2177	924	3313
3108	-1.04	-146.0	313.9	-11.7	361	3113	0.12	2.25	0.00	0.000	6	0.191	0.055	2206	2342	3313
3432	-1.09	-146.0	345.0	-9.7	391	3433	0.00	0.00	0.00	0.000	6	0.000	0.000	2206	2341	3313
3751	-1.15	-146.0	374.4	-8.5	421	3755	0.00	2.28	0.00	0.000	4	0.000	0.074	2206	3740	3313
3796	-1.26	-146.0	378.2	-8.7	425	3801	0.17	2.20	0.00	0.000	6	0.108	0.045	2148	2321	3313
4120	-1.11	-146.0	415.0	-11.6	455	4124	0.17	2.33	0.00	0.000	4	0.182	0.075	2192	3744	3312
4129	-0.99	-146.0	416.1	-11.4	455	4136	0.08	2.22	0.00	0.000	6	0.170	0.044	2215	2329	3312
4454	-1.11	-146.0	442.8	-8.2	486	4455	0.00	0.00	0.00	0.000	6	0.000	0.000	2215	2329	3312
4773	-1.22	-146.0	469.1	-8.6	516	4778	0.17	2.33	0.00	0.000	4	0.101	0.076	2152	3742	3312
4783	-1.31	-146.0	470.0	-8.3	516	4789	0.00	2.20	0.00	0.000	6	0.000	0.044	2152	2336	3312
5073	end dive: TARGET_DEPTH_EXCEEDED
state	5074	begin apogee
5078	-0.34	0.0	502.7	11.2	544	5208	0.70	0.00	125.28	1.295	6	0.172	0.000	2362	2577	2708
5209	end apogee: CONTROL_FINISHED_OK
state	5209	begin climb
5211	1.20	146.0	507.8	0.0	557	5349	1.10	2.62	130.23	1.202	4	0.116	0.071	2692	3940	2112
5473	0.79	146.0	489.0	11.2	580	5478	0.32	2.30	0.00	0.000	6	0.165	0.044	2608	2583	2110
5797	0.84	185.6	467.7	6.5	610	5839	0.00	0.00	34.12	1.203	6	0.000	0.000	2608	2583	1950
6156	0.88	216.7	442.9	6.8	644	6191	0.00	2.47	27.23	1.192	4	0.000	0.073	2608	3944	1823
6225	0.88	216.7	437.7	8.8	650	6229	0.00	2.30	0.00	0.000	6	0.000	0.042	2608	2576	1823
6550	0.98	241.6	414.9	7.1	680	6575	0.15	0.00	21.98	1.180	6	0.094	0.000	2660	2575	1723
6889	0.90	241.6	382.6	9.5	712	6891	0.12	0.00	0.00	0.000	6	0.161	0.000	2629	2575	1721
7209	0.92	251.7	357.7	7.6	742	7224	0.00	2.38	9.80	1.091	4	0.000	0.073	2628	3951	1681
7257	0.86	251.7	353.4	9.0	746	7264	0.00	2.25	0.00	0.000	6	0.000	0.043	2628	2578	1680
7582	0.89	277.3	329.4	7.0	777	7606	0.00	0.00	22.12	1.167	6	0.000	0.000	2628	2578	1578
7921	0.98	287.0	304.4	7.6	809	7935	0.00	2.38	9.52	1.065	4	0.000	0.057	2628	1169	1537
7996	1.13	301.6	298.7	7.5	815	8015	0.17	2.33	13.55	1.099	6	0.088	0.054	2691	2582	1478
8331	1.04	301.6	262.7	10.9	847	8336	0.12	2.25	0.00	0.000	4	0.156	0.070	2658	3940	1476
8381	0.95	301.6	257.5	10.5	851	8385	0.00	2.17	0.00	0.000	6	0.000	0.044	2660	2571	1476
8711	0.95	301.6	228.7	9.0	882	8715	0.00	2.25	0.00	0.000	4	0.000	0.058	2660	1164	1476
8778	1.02	301.6	222.9	8.7	888	8782	0.00	2.30	0.00	0.000	6	0.000	0.054	2660	2588	1476
9103	1.03	304.6	196.4	7.9	918	9112	0.00	0.00	3.85	0.750	6	0.000	0.000	2660	2588	1466
9431	1.11	326.8	171.9	7.2	949	9456	0.00	2.35	19.42	1.118	4	0.000	0.072	2660	3947	1375
9478	1.11	326.8	168.2	8.3	953	9482	0.00	2.20	0.00	0.000	6	0.000	0.043	2660	2579	1374
9809	1.24	349.6	144.2	7.1	984	9834	0.15	2.40	19.60	1.097	4	0.094	0.059	2717	1166	1281
9880	1.24	349.6	137.1	10.3	990	9884	0.00	2.35	0.00	0.000	6	0.000	0.054	2717	2583	1280
10204	1.18	349.6	101.1	10.7	1020	10208	0.10	2.28	0.00	0.000	4	0.160	0.075	2692	3947	1279
10249	1.12	349.6	96.2	11.0	1026	10255	0.00	2.17	0.00	0.000	6	0.000	0.044	2692	2578	1278
10592	1.20	350.4	67.5	8.0	1087	10599	0.00	2.25	0.00	0.000	4	0.000	0.059	2692	1170	1278
10627	1.31	350.4	64.8	8.1	1093	10635	0.10	2.30	0.00	0.000	6	0.107	0.056	2727	2595	1278
10973	1.31	350.4	30.8	10.5	1154	10979	0.00	2.20	0.00	0.000	4	0.000	0.074	2727	3945	1277
11102	1.32	360.4	18.6	7.6	1177	11117	0.00	2.15	9.52	1.014	6	0.000	0.046	2728	2574	1238
11357	end climb: SURFACE_DEPTH_REACHED
state	11357	begin surface coast
11386	end surface coast: CONTROL_FINISHED_OK
state	11386	begin surface