Glider dive log

DavisStrait Sep08 * SG108 * Dive index * Mission links * Dive 345 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 108 HEADING -1 PITCH_ADJ_DBAND 1 ALTIM_TOP_TURN_MARGIN 5

MISSION 11 ESCAPE_HEADING 80 ROLL_MIN 294 ALTIM_TOP_MIN_OBSTACLE 1.8

DIVE 345 ESCAPE_HEADING_DELTA 5 ROLL_MAX 3598 ALTIM_PING_DEPTH 0

D_SURF 3 FIX_MISSING_TIMEOUT 3 ROLL_DEG 40 ALTIM_PING_DELTA 0

D_FLARE 3 TGT_DEFAULT_LAT 47.599998 C_ROLL_DIVE 2230 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LON -122.3 C_ROLL_CLIMB 1740 ALTIM_PULSE 3

D_ABORT 1070 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 3

D_NO_BLEED 50 SM_CC 225 ROLL_CNV 0.028270001 XPDR_VALID 4

D_FINISH 7 N_FILEKB 4 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

D_PITCH 1.75 FILEMGR 2 R_PORT_OVSHOOT 22 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 500 CALL_NDIVES 1 R_STBD_OVSHOOT 22 INT_PRESSURE_YINT 0

D_CALL 3 COMM_SEQ 0 ROLL_AD_RATE 275 DEEPGLIDER 0

SURFACE_URGENCY 10 KERMIT 0 ROLL_MAXERRORS 0 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 5 N_NOCOMM 0 ROLL_ADJ_GAIN 0 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 10 N_NOSURFACE 0 ROLL_ADJ_DBAND 0 DEVICE1 2

T_DIVE 470 UPLOAD_DIVES_MAX 5 VBD_MIN 588 DEVICE2 20

T_MISSION 550 CALL_TRIES 3 VBD_MAX 3951 DEVICE3 -1

T_ABORT 1440 CALL_WAIT 60 C_VBD 2650 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 3 PITCH_VBD_SHIFT 0.0012300001 SMARTDEVICE1 -1

USE_ICE 2 N_GPS 20 VBD_PUMP_AD_RATE_SURFACE 4 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.1 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_APOGEE 4 COMPASS_DEVICE 33

D_OFFGRID 900 T_GPS_CHARGE -119189.44 VBD_BLEED_AD_RATE 8 COMPASS2_DEVICE -1

T_WATCHDOG 10 T_RSLEEP 60 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 2680 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 1 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_T_J 3.1957888e-06

FERRY_MAX 45 PITCH_GAIN 16 TCM_ROLL_OFFSET 0 SEABIRD_C_G -10.106751

KALMAN_USE 1 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 7 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 225

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 900 PITCH_GAIN 16 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 0 D_PITCH 1.75 PITCH_MAX 3700 SURFACE_URGENCY 10

ALTIM_FREQUENCY 13 D_SAFE 500 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 10

ALTIM_PING_DELTA 0 D_SURF 3 PITCH_MIN 350 SURFACE_URGENCY_TRY 5

ALTIM_PING_DEPTH 0 D_TGT 990 PITCH_TIMEOUT 20 TCM_PITCH_OFFSET 0

ALTIM_PULSE 3 ESCAPE_HEADING 80 PITCH_VBD_SHIFT 0.0012300001 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 3 ESCAPE_HEADING_DELTA 5 PRESSURE_SLOPE 0.0001161151 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1.8 FERRY_MAX 45 PRESSURE_YINT -22.639299 TGT_DEFAULT_LAT 47.599998

ALTIM_TOP_PING_RANGE 0 FILEMGR 2 P_OVSHOOT 0.039999999 TGT_DEFAULT_LON -122.3

ALTIM_TOP_TURN_MARGIN 5 FIX_MISSING_TIMEOUT 3 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 3

CALL_TRIES 3 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 -119189.44

CAPMAXSIZE 100000 HD_C 2.7999999e-06 RHO 1.02765 T_MISSION 550

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_NO_W 120

CF8_MAXERRORS 0 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_RSLEEP 60

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 275 T_TURN 225

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.1 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 5

C_PITCH 2680 KALMAN_USE 1 ROLL_MIN 294 USE_BATHY -2

C_ROLL_CLIMB 1740 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 2

C_ROLL_DIVE 2230 MASS 51779 R_PORT_OVSHOOT 22 VBD_BLEED_AD_RATE 8

C_VBD 2650 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 1 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 0 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 345 PHONE_SUPPLY 2 SIM_PITCH 0 XPDR_INHIBIT 90

D_ABORT 1070 PITCH_ADJ_DBAND 1 SIM_W 0 XPDR_VALID 4

D_CALL 3 PITCH_ADJ_GAIN 0.045000002 SMARTDEVICE1 -1

Pre-dive calculations and measurements:

GPS1 082640,6617.213,-6024.225,0,2075.5,0,-37.7 TGT_NAME TARGET_E_IN

_CALLS 3 TGT_LATLONG 6703.000,-5648.000

_XMS_NAKs 16 TGT_RADIUS 10000.000

_XMS_TOUTs 1 KALMAN_CONTROL 0.185,0.142

_SM_DEPTHo 2.85 KALMAN_X 263858.2,5312.2,3176.8,-276540.5,2036.3

_SM_ANGLEo -0.5 KALMAN_Y -225241.2,-16882.4,-11487.7,223407.8,17867.3

GPS2 082640,6617.213,-6024.225,0,2075.5,0,-37.7 MHEAD_RNG_PITCHd_Wd 90.2,177685,-13.0,-7.021

SPEED_LIMITS 0.122,0.233 D_GRID 426

Post-dive calculations and measurements:

FREEZE 6.57,-1.752,-1.781 TCM_TEMP 14.80

FINISH1 6.6,1.026095,76 XPDR_PINGS 31

FINISH2 5.0 _24V_AH 22.1,59.777

RAFOS_CLK 530 _10V_AH 10.5,27.300

RAFOS 0,1227355456,12.083333,12.071111,72,59,58,56,53,53,650,177,211,144,155,198 DATA_FILE_SIZE 25311,793

RAFOS_FIX 6619.368164,-6023.639160,221108,121224,2,81,0.28 CAP_FILE_SIZE 96305,0

IRIDIUM_FIX 6548.42,-6029.22,160298,060607 CFSIZE 260165632,228278272

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

HUMID 1815 SOUNDSPEED 1442.8

INTERNAL_PRESSURE 9.88319 GPS 221108,122224,6619.368,-6023.639,0,2081.0,0,-37.7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 6 156 23.25 SBE_CT 555 24 294.74

Roll_motor 116 92 238.18 SBE_O2 0 0 0.00

VBD_pump_during_apogee 408 1169 10562.24 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 0 103 0.00 nil 0 0 0.00

Iridium_during_connect 0 160 0.00 nil 0 0 0.00

Iridium_during_xfer 0 223 0.00

Transponder_ping 7 420 71.94

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 0 50 0.00

TT8 1416 19 296.30

LPSleep 7749 2 187.96

TT8_Active 477 19 99.84

TT8_Sampling 1469 39 616.11

TT8_CF8 178 45 85.94

TT8_Kalman 33 81 28.70

Analog_circuits 1296 12 163.40

GPS_charging 0 0 0.00

Compass 1459 8 122.57

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

12 end surface: CONTROL_FINISHED_OK

state 12 begin dive

16 -0.99 -146.0 0.0 0.0 0 23 0.00 0.00 -5.57 0.000 2 0.000 0.000 2701 3159 2481

27 -0.99 -146.0 4.0 -0.0 1 68 0.68 3.90 -29.62 0.000 4 0.084 0.072 2458 811 3250

322 -0.76 -146.0 41.4 -17.8 53 329 0.22 2.33 0.00 0.000 6 0.155 0.067 2512 2232 3254

667 -0.76 -146.0 71.0 -8.3 114 673 0.00 2.30 0.00 0.000 4 0.000 0.069 2514 814 3254

735 -0.76 -146.0 76.8 -8.7 126 742 0.00 2.35 0.00 0.000 6 0.000 0.071 2506 2239 3254

1089 -0.76 -146.0 107.1 -8.3 178 1093 0.00 2.22 0.00 0.000 4 0.000 0.084 2496 3597 3254

1116 -0.76 -146.0 109.5 -8.7 179 1120 0.00 2.20 0.00 0.000 6 0.000 0.058 2496 2214 3253

1443 -0.69 -146.0 137.5 -7.5 195 1447 0.12 2.25 0.00 0.000 4 0.156 0.071 2533 810 3254

1515 -0.76 -146.0 143.7 -8.5 198 1519 0.00 2.35 0.00 0.000 6 0.000 0.071 2525 2233 3254

1842 -0.85 -146.0 170.8 -7.9 214 1847 0.12 2.25 0.00 0.000 4 0.087 0.090 2461 3596 3254

1911 -0.72 -146.0 177.2 -9.4 217 1916 0.22 2.17 0.00 0.000 6 0.153 0.058 2525 2226 3253

2238 -0.82 -146.0 197.4 -5.7 233 2240 0.10 0.00 0.00 0.000 6 0.100 0.000 2485 2226 3254

2546 -0.82 -146.0 220.0 -7.4 248 2550 0.00 2.30 0.00 0.000 4 0.000 0.084 2475 3599 3254

2602 -0.82 -146.0 224.4 -7.4 250 2607 0.10 2.17 0.00 0.000 6 0.156 0.058 2500 2228 3254

2923 -0.82 -146.0 247.5 -7.8 266 2924 0.00 0.00 0.00 0.000 6 0.000 0.000 2500 2228 3254

3233 -0.82 -146.0 271.5 -7.8 281 3237 0.00 2.33 0.00 0.000 4 0.000 0.091 2492 3606 3253

3257 -0.82 -146.0 273.3 -8.0 282 3261 0.00 2.17 0.00 0.000 6 0.000 0.058 2492 2228 3253

3589 -0.82 -146.0 298.2 -7.7 298 3593 0.00 2.33 0.00 0.000 4 0.000 0.085 2482 3608 3253

3612 -0.82 -146.0 300.1 -8.3 299 3616 0.00 2.20 0.00 0.000 6 0.000 0.058 2482 2221 3253

3944 -0.82 -146.0 325.7 -7.6 315 3948 0.00 2.28 0.00 0.000 4 0.000 0.071 2482 810 3254

4028 -0.82 -146.0 332.7 -7.9 318 4035 0.12 2.38 0.00 0.000 6 0.142 0.071 2506 2245 3253

4344 -0.92 -146.0 352.8 -6.2 334 4346 0.10 0.00 0.00 0.000 6 0.099 0.000 2465 2245 3253

4653 -0.92 -146.0 375.8 -7.5 349 4654 0.00 0.00 0.00 0.000 6 0.000 0.000 2466 2245 3253

4962 -0.92 -146.0 398.9 -7.6 364 4966 0.00 2.22 0.00 0.000 4 0.000 0.085 2455 3598 3253

5001 -0.86 -146.0 402.3 -8.8 365 5008 0.15 2.17 0.00 0.000 6 0.155 0.058 2495 2228 3253

5334 -0.97 -146.0 423.3 -6.1 374 5338 0.10 2.30 0.00 0.000 4 0.097 0.084 2444 3598 3253

5369 end dive: TARGET_DEPTH_EXCEEDED

state 5370 begin apogee

5379 -0.31 0.0 426.1 8.0 374 5507 0.52 0.00 124.75 1.170 6 0.137 0.000 2609 1731 2650

5507 end apogee: CONTROL_FINISHED_OK

state 5507 begin climb

5510 0.99 146.0 429.0 0.0 378 5648 0.90 2.65 129.65 1.085 4 0.100 0.072 2908 333 2053

5707 0.77 146.0 413.7 9.6 382 5712 0.25 2.55 0.00 0.000 6 0.135 0.061 2842 1747 2051

6025 0.78 158.2 392.5 6.6 393 6040 0.00 2.42 10.45 0.977 4 0.000 0.074 2842 3165 2005

6125 0.70 158.2 384.8 7.8 396 6131 0.00 2.40 0.00 0.000 6 0.000 0.058 2850 1729 2004

6442 0.70 158.2 362.6 7.3 412 6443 0.00 0.00 0.00 0.000 6 0.000 0.000 2850 1729 2004

6750 0.70 158.2 339.5 7.1 427 6751 0.00 0.00 0.00 0.000 6 0.000 0.000 2850 1729 2004

7060 0.70 158.2 317.5 7.3 442 7063 0.00 2.30 0.00 0.000 4 0.000 0.073 2859 330 2004

7110 0.75 158.2 313.5 8.1 444 7114 0.00 2.35 0.00 0.000 6 0.000 0.062 2859 1759 2005

7436 0.77 174.8 290.2 6.5 460 7458 0.00 2.30 15.60 1.033 4 0.000 0.076 2859 3161 1937

7543 0.66 174.8 282.6 7.9 464 7550 0.17 2.33 0.00 0.000 6 0.126 0.058 2818 1725 1936

7859 1.08 210.7 264.9 5.9 480 7897 0.28 2.45 31.60 1.058 4 0.074 0.074 2929 3163 1791

7972 0.77 210.7 255.0 10.7 484 7977 0.32 2.35 0.00 0.000 6 0.139 0.059 2845 1727 1786

8295 1.01 284.7 238.6 4.6 500 8367 0.17 2.53 64.95 1.040 4 0.071 0.075 2918 3153 1489

8390 0.85 284.7 230.4 10.7 504 8395 0.25 2.38 0.00 0.000 6 0.132 0.058 2858 1734 1485

8709 1.06 301.5 209.9 6.5 519 8731 0.17 2.38 14.05 0.961 4 0.070 0.074 2942 319 1420

8765 0.97 301.5 204.0 11.7 521 8770 0.20 2.40 0.00 0.000 6 0.135 0.064 2885 1752 1420

9081 1.07 301.5 179.4 7.4 536 9086 0.10 2.33 0.00 0.000 4 0.087 0.078 2929 3161 1415

9103 1.02 301.5 177.3 9.3 537 9108 0.15 2.33 0.00 0.000 6 0.143 0.060 2898 1727 1415

9425 1.02 301.5 146.4 10.2 553 9429 0.00 2.30 0.00 0.000 4 0.000 0.075 2908 325 1414

9453 1.10 301.5 143.7 9.2 554 9457 0.00 2.35 0.00 0.000 6 0.000 0.063 2907 1756 1413

9779 1.10 301.5 118.5 8.1 570 9783 0.00 2.30 0.00 0.000 4 0.000 0.080 2907 3160 1412

9841 1.05 301.5 112.3 10.7 572 9847 0.00 2.30 0.00 0.000 6 0.000 0.061 2916 1733 1411

10170 1.05 301.5 86.4 7.8 609 10176 0.00 2.33 0.00 0.000 4 0.000 0.076 2926 318 1411

10189 1.05 301.5 85.1 7.1 612 10195 0.00 2.35 0.00 0.000 6 0.000 0.064 2926 1752 1411

10534 1.05 301.5 54.3 8.8 673 10540 0.00 2.30 0.00 0.000 4 0.000 0.081 2926 3156 1410

10597 0.97 301.5 48.5 9.4 684 10604 0.17 2.30 0.00 0.000 6 0.134 0.062 2885 1728 1409

10943 1.17 322.1 27.5 6.4 745 10968 0.17 2.30 17.55 0.933 4 0.073 0.075 2967 325 1336

11014 1.06 322.1 19.6 12.8 757 11021 0.20 2.38 0.00 0.000 6 0.133 0.067 2909 1751 1335

11180 end climb: FINISH_DEPTH_REACHED

state 11180 begin subsurface finish

11187 0.09 76.4 6.6 -7.3 786 11229 0.62 2.33 -33.90 0.000 4 0.109 0.093 2689 3157 2340

11230 end subsurface finish: CONTROL_FINISHED_OK

state 11230 begin surface

ID	108	HEADING	-1	PITCH_ADJ_DBAND	1	ALTIM_TOP_TURN_MARGIN	5
MISSION	11	ESCAPE_HEADING	80	ROLL_MIN	294	ALTIM_TOP_MIN_OBSTACLE	1.8
DIVE	345	ESCAPE_HEADING_DELTA	5	ROLL_MAX	3598	ALTIM_PING_DEPTH	0
D_SURF	3	FIX_MISSING_TIMEOUT	3	ROLL_DEG	40	ALTIM_PING_DELTA	0
D_FLARE	3	TGT_DEFAULT_LAT	47.599998	C_ROLL_DIVE	2230	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LON	-122.3	C_ROLL_CLIMB	1740	ALTIM_PULSE	3
D_ABORT	1070	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	3
D_NO_BLEED	50	SM_CC	225	ROLL_CNV	0.028270001	XPDR_VALID	4
D_FINISH	7	N_FILEKB	4	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
D_PITCH	1.75	FILEMGR	2	R_PORT_OVSHOOT	22	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	500	CALL_NDIVES	1	R_STBD_OVSHOOT	22	INT_PRESSURE_YINT	0
D_CALL	3	COMM_SEQ	0	ROLL_AD_RATE	275	DEEPGLIDER	0
SURFACE_URGENCY	10	KERMIT	0	ROLL_MAXERRORS	0	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	5	N_NOCOMM	0	ROLL_ADJ_GAIN	0	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	10	N_NOSURFACE	0	ROLL_ADJ_DBAND	0	DEVICE1	2
T_DIVE	470	UPLOAD_DIVES_MAX	5	VBD_MIN	588	DEVICE2	20
T_MISSION	550	CALL_TRIES	3	VBD_MAX	3951	DEVICE3	-1
T_ABORT	1440	CALL_WAIT	60	C_VBD	2650	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	3	PITCH_VBD_SHIFT	0.0012300001	SMARTDEVICE1	-1
USE_ICE	2	N_GPS	20	VBD_PUMP_AD_RATE_SURFACE	4	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.1	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_APOGEE	4	COMPASS_DEVICE	33
D_OFFGRID	900	T_GPS_CHARGE	-119189.44	VBD_BLEED_AD_RATE	8	COMPASS2_DEVICE	-1
T_WATCHDOG	10	T_RSLEEP	60	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	2680	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	1	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_T_J	3.1957888e-06
FERRY_MAX	45	PITCH_GAIN	16	TCM_ROLL_OFFSET	0	SEABIRD_C_G	-10.106751
KALMAN_USE	1	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	082640,6617.213,-6024.225,0,2075.5,0,-37.7	TGT_NAME	TARGET_E_IN
_CALLS	3	TGT_LATLONG	6703.000,-5648.000
_XMS_NAKs	16	TGT_RADIUS	10000.000
_XMS_TOUTs	1	KALMAN_CONTROL	0.185,0.142
_SM_DEPTHo	2.85	KALMAN_X	263858.2,5312.2,3176.8,-276540.5,2036.3
_SM_ANGLEo	-0.5	KALMAN_Y	-225241.2,-16882.4,-11487.7,223407.8,17867.3
GPS2	082640,6617.213,-6024.225,0,2075.5,0,-37.7	MHEAD_RNG_PITCHd_Wd	90.2,177685,-13.0,-7.021
SPEED_LIMITS	0.122,0.233	D_GRID	426

FREEZE	6.57,-1.752,-1.781	TCM_TEMP	14.80
FINISH1	6.6,1.026095,76	XPDR_PINGS	31
FINISH2	5.0	_24V_AH	22.1,59.777
RAFOS_CLK	530	_10V_AH	10.5,27.300
RAFOS	0,1227355456,12.083333,12.071111,72,59,58,56,53,53,650,177,211,144,155,198	DATA_FILE_SIZE	25311,793
RAFOS_FIX	6619.368164,-6023.639160,221108,121224,2,81,0.28	CAP_FILE_SIZE	96305,0
IRIDIUM_FIX	6548.42,-6029.22,160298,060607	CFSIZE	260165632,228278272
TT8_MAMPS	0.026845	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
HUMID	1815	SOUNDSPEED	1442.8
INTERNAL_PRESSURE	9.88319	GPS	221108,122224,6619.368,-6023.639,0,2081.0,0,-37.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	6	156	23.25	SBE_CT	555	24	294.74
Roll_motor	116	92	238.18	SBE_O2	0	0	0.00
VBD_pump_during_apogee	408	1169	10562.24	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	0	103	0.00	nil	0	0	0.00
Iridium_during_connect	0	160	0.00	nil	0	0	0.00
Iridium_during_xfer	0	223	0.00
Transponder_ping	7	420	71.94
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	0	50	0.00
TT8	1416	19	296.30
LPSleep	7749	2	187.96
TT8_Active	477	19	99.84
TT8_Sampling	1469	39	616.11
TT8_CF8	178	45	85.94
TT8_Kalman	33	81	28.70
Analog_circuits	1296	12	163.40
GPS_charging	0	0	0.00
Compass	1459	8	122.57
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
12	end surface: CONTROL_FINISHED_OK
state	12	begin dive
16	-0.99	-146.0	0.0	0.0	0	23	0.00	0.00	-5.57	0.000	2	0.000	0.000	2701	3159	2481
27	-0.99	-146.0	4.0	-0.0	1	68	0.68	3.90	-29.62	0.000	4	0.084	0.072	2458	811	3250
322	-0.76	-146.0	41.4	-17.8	53	329	0.22	2.33	0.00	0.000	6	0.155	0.067	2512	2232	3254
667	-0.76	-146.0	71.0	-8.3	114	673	0.00	2.30	0.00	0.000	4	0.000	0.069	2514	814	3254
735	-0.76	-146.0	76.8	-8.7	126	742	0.00	2.35	0.00	0.000	6	0.000	0.071	2506	2239	3254
1089	-0.76	-146.0	107.1	-8.3	178	1093	0.00	2.22	0.00	0.000	4	0.000	0.084	2496	3597	3254
1116	-0.76	-146.0	109.5	-8.7	179	1120	0.00	2.20	0.00	0.000	6	0.000	0.058	2496	2214	3253
1443	-0.69	-146.0	137.5	-7.5	195	1447	0.12	2.25	0.00	0.000	4	0.156	0.071	2533	810	3254
1515	-0.76	-146.0	143.7	-8.5	198	1519	0.00	2.35	0.00	0.000	6	0.000	0.071	2525	2233	3254
1842	-0.85	-146.0	170.8	-7.9	214	1847	0.12	2.25	0.00	0.000	4	0.087	0.090	2461	3596	3254
1911	-0.72	-146.0	177.2	-9.4	217	1916	0.22	2.17	0.00	0.000	6	0.153	0.058	2525	2226	3253
2238	-0.82	-146.0	197.4	-5.7	233	2240	0.10	0.00	0.00	0.000	6	0.100	0.000	2485	2226	3254
2546	-0.82	-146.0	220.0	-7.4	248	2550	0.00	2.30	0.00	0.000	4	0.000	0.084	2475	3599	3254
2602	-0.82	-146.0	224.4	-7.4	250	2607	0.10	2.17	0.00	0.000	6	0.156	0.058	2500	2228	3254
2923	-0.82	-146.0	247.5	-7.8	266	2924	0.00	0.00	0.00	0.000	6	0.000	0.000	2500	2228	3254
3233	-0.82	-146.0	271.5	-7.8	281	3237	0.00	2.33	0.00	0.000	4	0.000	0.091	2492	3606	3253
3257	-0.82	-146.0	273.3	-8.0	282	3261	0.00	2.17	0.00	0.000	6	0.000	0.058	2492	2228	3253
3589	-0.82	-146.0	298.2	-7.7	298	3593	0.00	2.33	0.00	0.000	4	0.000	0.085	2482	3608	3253
3612	-0.82	-146.0	300.1	-8.3	299	3616	0.00	2.20	0.00	0.000	6	0.000	0.058	2482	2221	3253
3944	-0.82	-146.0	325.7	-7.6	315	3948	0.00	2.28	0.00	0.000	4	0.000	0.071	2482	810	3254
4028	-0.82	-146.0	332.7	-7.9	318	4035	0.12	2.38	0.00	0.000	6	0.142	0.071	2506	2245	3253
4344	-0.92	-146.0	352.8	-6.2	334	4346	0.10	0.00	0.00	0.000	6	0.099	0.000	2465	2245	3253
4653	-0.92	-146.0	375.8	-7.5	349	4654	0.00	0.00	0.00	0.000	6	0.000	0.000	2466	2245	3253
4962	-0.92	-146.0	398.9	-7.6	364	4966	0.00	2.22	0.00	0.000	4	0.000	0.085	2455	3598	3253
5001	-0.86	-146.0	402.3	-8.8	365	5008	0.15	2.17	0.00	0.000	6	0.155	0.058	2495	2228	3253
5334	-0.97	-146.0	423.3	-6.1	374	5338	0.10	2.30	0.00	0.000	4	0.097	0.084	2444	3598	3253
5369	end dive: TARGET_DEPTH_EXCEEDED
state	5370	begin apogee
5379	-0.31	0.0	426.1	8.0	374	5507	0.52	0.00	124.75	1.170	6	0.137	0.000	2609	1731	2650
5507	end apogee: CONTROL_FINISHED_OK
state	5507	begin climb
5510	0.99	146.0	429.0	0.0	378	5648	0.90	2.65	129.65	1.085	4	0.100	0.072	2908	333	2053
5707	0.77	146.0	413.7	9.6	382	5712	0.25	2.55	0.00	0.000	6	0.135	0.061	2842	1747	2051
6025	0.78	158.2	392.5	6.6	393	6040	0.00	2.42	10.45	0.977	4	0.000	0.074	2842	3165	2005
6125	0.70	158.2	384.8	7.8	396	6131	0.00	2.40	0.00	0.000	6	0.000	0.058	2850	1729	2004
6442	0.70	158.2	362.6	7.3	412	6443	0.00	0.00	0.00	0.000	6	0.000	0.000	2850	1729	2004
6750	0.70	158.2	339.5	7.1	427	6751	0.00	0.00	0.00	0.000	6	0.000	0.000	2850	1729	2004
7060	0.70	158.2	317.5	7.3	442	7063	0.00	2.30	0.00	0.000	4	0.000	0.073	2859	330	2004
7110	0.75	158.2	313.5	8.1	444	7114	0.00	2.35	0.00	0.000	6	0.000	0.062	2859	1759	2005
7436	0.77	174.8	290.2	6.5	460	7458	0.00	2.30	15.60	1.033	4	0.000	0.076	2859	3161	1937
7543	0.66	174.8	282.6	7.9	464	7550	0.17	2.33	0.00	0.000	6	0.126	0.058	2818	1725	1936
7859	1.08	210.7	264.9	5.9	480	7897	0.28	2.45	31.60	1.058	4	0.074	0.074	2929	3163	1791
7972	0.77	210.7	255.0	10.7	484	7977	0.32	2.35	0.00	0.000	6	0.139	0.059	2845	1727	1786
8295	1.01	284.7	238.6	4.6	500	8367	0.17	2.53	64.95	1.040	4	0.071	0.075	2918	3153	1489
8390	0.85	284.7	230.4	10.7	504	8395	0.25	2.38	0.00	0.000	6	0.132	0.058	2858	1734	1485
8709	1.06	301.5	209.9	6.5	519	8731	0.17	2.38	14.05	0.961	4	0.070	0.074	2942	319	1420
8765	0.97	301.5	204.0	11.7	521	8770	0.20	2.40	0.00	0.000	6	0.135	0.064	2885	1752	1420
9081	1.07	301.5	179.4	7.4	536	9086	0.10	2.33	0.00	0.000	4	0.087	0.078	2929	3161	1415
9103	1.02	301.5	177.3	9.3	537	9108	0.15	2.33	0.00	0.000	6	0.143	0.060	2898	1727	1415
9425	1.02	301.5	146.4	10.2	553	9429	0.00	2.30	0.00	0.000	4	0.000	0.075	2908	325	1414
9453	1.10	301.5	143.7	9.2	554	9457	0.00	2.35	0.00	0.000	6	0.000	0.063	2907	1756	1413
9779	1.10	301.5	118.5	8.1	570	9783	0.00	2.30	0.00	0.000	4	0.000	0.080	2907	3160	1412
9841	1.05	301.5	112.3	10.7	572	9847	0.00	2.30	0.00	0.000	6	0.000	0.061	2916	1733	1411
10170	1.05	301.5	86.4	7.8	609	10176	0.00	2.33	0.00	0.000	4	0.000	0.076	2926	318	1411
10189	1.05	301.5	85.1	7.1	612	10195	0.00	2.35	0.00	0.000	6	0.000	0.064	2926	1752	1411
10534	1.05	301.5	54.3	8.8	673	10540	0.00	2.30	0.00	0.000	4	0.000	0.081	2926	3156	1410
10597	0.97	301.5	48.5	9.4	684	10604	0.17	2.30	0.00	0.000	6	0.134	0.062	2885	1728	1409
10943	1.17	322.1	27.5	6.4	745	10968	0.17	2.30	17.55	0.933	4	0.073	0.075	2967	325	1336
11014	1.06	322.1	19.6	12.8	757	11021	0.20	2.38	0.00	0.000	6	0.133	0.067	2909	1751	1335
11180	end climb: FINISH_DEPTH_REACHED
state	11180	begin subsurface finish
11187	0.09	76.4	6.6	-7.3	786	11229	0.62	2.33	-33.90	0.000	4	0.109	0.093	2689	3157	2340
11230	end subsurface finish: CONTROL_FINISHED_OK
state	11230	begin surface