Glider dive log

DavisStrait Sep08 * SG108 * Dive index * Mission links * Dive 348 * 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 348 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 23 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 23 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 348 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 162120,6618.403,-6021.352,0,2074.5,0,-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 0.223,0.070

_SM_DEPTHo 4.27 KALMAN_X 282769.4,-4535.6,842.2,-268544.9,7978.8

_SM_ANGLEo -7.7 KALMAN_Y -219894.6,15602.8,-2592.8,225616.2,-7611.1

GPS2 162120,6618.403,-6021.352,0,2074.5,0,-37.7 MHEAD_RNG_PITCHd_Wd 110.2,174814,-13.0,-7.021

SPEED_LIMITS 0.122,0.233 D_GRID 439

Post-dive calculations and measurements:

FREEZE 2.01,-1.770,-1.780 XPDR_PINGS 39

FINISH 2.0,1.026133 _24V_AH 22.1,60.137

RAFOS_CLK 549 _10V_AH 10.5,27.442

RAFOS 0,1227384251,20.083334,20.069723,74,62,59,56,53,53,693,209,197,223,116,165 DATA_FILE_SIZE 25285,755

RAFOS_FIX 6735.099121,-5752.243652,221108,202024,3,75,12.22 CAP_FILE_SIZE 99878,0

IRIDIUM_FIX 6548.42,-6029.22,160298,060607 CFSIZE 260165632,228114432

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

HUMID 1826 SOUNDSPEED 1443.7

INTERNAL_PRESSURE 9.8246 GPS 221108,162120,6618.403,-6021.352,0,2074.5,0,-37.7

TCM_TEMP 14.90

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 6 154 20.72 SBE_CT 529 24 281.03

Roll_motor 111 102 250.30 SBE_O2 0 0 0.00

VBD_pump_during_apogee 409 1175 10635.83 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 9 420 90.50

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 0 50 0.00

TT8 1436 19 300.50

LPSleep 8266 2 200.50

TT8_Active 457 19 95.64

TT8_Sampling 1425 39 597.58

TT8_CF8 173 45 83.84

TT8_Kalman 33 81 28.70

Analog_circuits 1254 12 158.05

GPS_charging 0 0 0.00

Compass 1412 8 118.68

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 13 begin dive

16 -0.99 -146.0 0.0 0.0 0 57 0.00 0.00 -38.47 0.000 2 0.000 0.000 2702 326 3138

60 -0.99 -146.0 3.1 -1.7 7 73 0.65 0.85 -4.62 0.000 4 0.071 0.102 2453 822 3248

91 -1.09 -146.0 6.1 -7.3 12 97 0.00 2.30 0.00 0.000 6 0.000 0.076 2442 2237 3250

435 -0.83 -146.0 48.4 -12.2 73 442 0.20 2.25 0.00 0.000 4 0.151 0.083 2494 3604 3252

534 -0.78 -146.0 57.7 -8.7 90 540 0.00 2.20 0.00 0.000 6 0.000 0.057 2494 2217 3253

878 -0.71 -146.0 86.8 -8.6 151 884 0.12 2.25 0.00 0.000 4 0.155 0.069 2531 818 3252

1037 -0.71 -146.0 99.2 -7.9 179 1044 0.00 2.35 0.00 0.000 6 0.000 0.074 2523 2235 3252

1360 -0.78 -146.0 123.3 -7.4 196 1364 0.00 2.33 0.00 0.000 4 0.000 0.069 2522 811 3252

1411 -0.78 -146.0 127.5 -8.4 198 1415 0.00 2.35 0.00 0.000 6 0.000 0.071 2514 2235 3252

1733 -0.78 -146.0 153.2 -8.0 214 1736 0.00 2.25 0.00 0.000 4 0.000 0.085 2503 3605 3252

1817 -0.83 -146.0 160.4 -8.4 217 1823 0.00 2.20 0.00 0.000 6 0.000 0.057 2503 2220 3252

2133 -0.83 -146.0 184.2 -7.0 233 2134 0.00 0.00 0.00 0.000 6 0.000 0.000 2503 2219 3252

2445 -0.83 -146.0 205.2 -6.6 248 2448 0.00 2.25 0.00 0.000 4 0.000 0.071 2503 816 3252

2478 -0.83 -146.0 207.7 -6.7 249 2482 0.00 2.35 0.00 0.000 6 0.000 0.071 2493 2243 3252

2799 -0.83 -146.0 231.3 -7.3 265 2800 0.00 0.00 0.00 0.000 6 0.000 0.000 2493 2243 3252

3108 -0.83 -146.0 253.4 -7.5 280 3109 0.00 0.00 0.00 0.000 6 0.000 0.000 2493 2243 3252

3418 -0.83 -146.0 276.1 -7.5 295 3419 0.00 0.00 0.00 0.000 6 0.000 0.000 2493 2243 3251

3727 -0.83 -146.0 300.6 -8.4 310 3731 0.00 2.35 0.00 0.000 4 0.000 0.071 2493 811 3251

3759 -0.83 -146.0 303.3 -8.4 311 3765 0.00 2.35 0.00 0.000 6 0.000 0.071 2483 2234 3252

4075 -0.83 -146.0 326.3 -7.2 327 4078 0.00 2.33 0.00 0.000 4 0.000 0.082 2483 821 3252

4143 -0.78 -146.0 331.3 -7.3 330 4148 0.15 2.35 0.00 0.000 6 0.139 0.077 2514 2232 3252

4471 -0.90 -146.0 349.5 -4.8 346 4475 0.12 2.28 0.00 0.000 4 0.088 0.084 2454 3610 3251

4515 -0.82 -146.0 352.6 -7.1 348 4520 0.17 2.20 0.00 0.000 6 0.152 0.057 2501 2224 3251

4836 -0.90 -146.0 369.0 -4.6 364 4840 0.00 2.28 0.00 0.000 4 0.000 0.071 2501 809 3251

4860 -0.95 -146.0 370.1 -4.7 365 4864 0.00 2.38 0.00 0.000 6 0.000 0.074 2493 2242 3251

5193 -1.01 -146.0 385.1 -5.3 381 5198 0.12 2.22 0.00 0.000 4 0.083 0.084 2428 3601 3251

5238 -0.84 -146.0 388.5 -8.1 383 5243 0.22 2.17 0.00 0.000 6 0.150 0.057 2494 2216 3251

5569 -0.92 -146.0 406.5 -5.3 396 5571 0.00 0.00 0.00 0.000 6 0.000 0.000 2494 2216 3251

5894 -1.01 -146.0 425.4 -6.1 404 5898 0.12 2.25 0.00 0.000 4 0.091 0.069 2443 817 3251

5904 -1.01 -146.0 426.3 -6.3 404 5909 0.12 2.35 0.00 0.000 6 0.147 0.070 2467 2241 3251

6127 end dive: TARGET_DEPTH_EXCEEDED

state 6127 begin apogee

6135 -0.31 0.0 441.1 6.4 410 6263 0.47 0.00 124.62 1.176 6 0.131 0.000 2618 1733 2650

6263 end apogee: CONTROL_FINISHED_OK

state 6263 begin climb

6266 0.99 146.0 444.2 0.0 413 6404 0.85 2.62 130.18 1.093 4 0.096 0.073 2903 335 2054

6435 0.79 146.0 431.4 11.5 417 6440 0.22 2.58 0.00 0.000 6 0.134 0.061 2845 1751 2052

6760 0.81 158.6 408.4 6.6 425 6776 0.00 2.42 11.07 0.989 4 0.000 0.074 2845 3163 2003

6871 0.69 158.6 400.1 7.9 427 6876 0.10 2.38 0.00 0.000 6 0.143 0.057 2828 1738 2002

7193 0.89 251.8 384.7 4.0 443 7279 0.15 0.00 82.60 1.091 6 0.074 0.000 2890 1738 1623

7584 0.82 251.8 350.0 9.4 462 7589 0.12 2.40 0.00 0.000 4 0.128 0.071 2864 332 1613

7635 0.94 251.8 345.6 7.7 464 7639 0.00 2.38 0.00 0.000 6 0.000 0.059 2864 1748 1613

7952 0.94 251.8 321.8 7.4 479 7955 0.00 2.33 0.00 0.000 4 0.000 0.074 2864 3162 1610

7991 0.87 251.8 318.4 8.9 480 7997 0.00 2.33 0.00 0.000 6 0.000 0.057 2873 1729 1609

8307 0.89 262.5 295.2 6.7 496 8321 0.00 2.35 8.15 0.945 4 0.000 0.072 2884 326 1580

8384 0.98 271.5 290.1 6.7 499 8399 0.00 2.35 9.98 0.967 6 0.000 0.061 2883 1744 1543

8727 0.98 271.5 264.5 8.3 516 8731 0.00 2.33 0.00 0.000 4 0.000 0.091 2884 3155 1541

8821 0.91 271.5 254.9 10.4 520 8825 0.00 2.30 0.00 0.000 6 0.000 0.058 2893 1725 1540

9142 0.91 271.5 224.7 9.3 536 9146 0.00 2.28 0.00 0.000 4 0.000 0.073 2904 331 1539

9188 0.91 271.5 220.4 9.7 538 9193 0.12 2.33 0.00 0.000 6 0.132 0.061 2869 1754 1539

9515 1.08 297.4 198.3 6.2 554 9545 0.15 2.35 24.08 1.024 4 0.074 0.077 2934 3155 1437

9603 0.87 297.4 188.9 12.1 558 9607 0.28 2.30 0.00 0.000 6 0.135 0.059 2864 1733 1435

9936 1.09 313.1 165.2 6.5 574 9958 0.17 2.35 14.48 0.973 4 0.069 0.074 2950 318 1373

9986 0.98 313.1 160.0 11.5 576 9991 0.22 2.38 0.00 0.000 6 0.139 0.064 2885 1748 1373

10309 1.09 316.7 136.0 6.9 592 10318 0.12 2.33 4.15 0.709 4 0.077 0.078 2940 3161 1358

10353 0.87 316.7 131.3 12.4 594 10358 0.30 2.30 0.00 0.000 6 0.136 0.061 2862 1737 1358

10681 1.56 316.7 106.7 9.5 610 10686 0.45 2.33 0.00 0.000 4 0.093 0.074 3020 324 1356

10721 1.49 316.7 102.1 11.6 612 10725 0.00 2.35 0.00 0.000 6 0.000 0.064 3020 1752 1356

11064 1.17 316.7 48.2 14.0 671 11071 0.28 2.40 0.00 0.000 4 0.150 0.074 2946 319 1356

11173 1.17 316.7 35.5 11.0 690 11179 0.00 2.35 0.00 0.000 6 0.000 0.064 2946 1748 1356

11505 end climb: SURFACE_DEPTH_REACHED

state 11506 begin surface coast

11539 end surface coast: CONTROL_FINISHED_OK

state 11539 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	348	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	23	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	162120,6618.403,-6021.352,0,2074.5,0,-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	0.223,0.070
_SM_DEPTHo	4.27	KALMAN_X	282769.4,-4535.6,842.2,-268544.9,7978.8
_SM_ANGLEo	-7.7	KALMAN_Y	-219894.6,15602.8,-2592.8,225616.2,-7611.1
GPS2	162120,6618.403,-6021.352,0,2074.5,0,-37.7	MHEAD_RNG_PITCHd_Wd	110.2,174814,-13.0,-7.021
SPEED_LIMITS	0.122,0.233	D_GRID	439

FREEZE	2.01,-1.770,-1.780	XPDR_PINGS	39
FINISH	2.0,1.026133	_24V_AH	22.1,60.137
RAFOS_CLK	549	_10V_AH	10.5,27.442
RAFOS	0,1227384251,20.083334,20.069723,74,62,59,56,53,53,693,209,197,223,116,165	DATA_FILE_SIZE	25285,755
RAFOS_FIX	6735.099121,-5752.243652,221108,202024,3,75,12.22	CAP_FILE_SIZE	99878,0
IRIDIUM_FIX	6548.42,-6029.22,160298,060607	CFSIZE	260165632,228114432
TT8_MAMPS	0.026845	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
HUMID	1826	SOUNDSPEED	1443.7
INTERNAL_PRESSURE	9.8246	GPS	221108,162120,6618.403,-6021.352,0,2074.5,0,-37.7
TCM_TEMP	14.90

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	6	154	20.72	SBE_CT	529	24	281.03
Roll_motor	111	102	250.30	SBE_O2	0	0	0.00
VBD_pump_during_apogee	409	1175	10635.83	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	9	420	90.50
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	0	50	0.00
TT8	1436	19	300.50
LPSleep	8266	2	200.50
TT8_Active	457	19	95.64
TT8_Sampling	1425	39	597.58
TT8_CF8	173	45	83.84
TT8_Kalman	33	81	28.70
Analog_circuits	1254	12	158.05
GPS_charging	0	0	0.00
Compass	1412	8	118.68
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	13	begin dive
16	-0.99	-146.0	0.0	0.0	0	57	0.00	0.00	-38.47	0.000	2	0.000	0.000	2702	326	3138
60	-0.99	-146.0	3.1	-1.7	7	73	0.65	0.85	-4.62	0.000	4	0.071	0.102	2453	822	3248
91	-1.09	-146.0	6.1	-7.3	12	97	0.00	2.30	0.00	0.000	6	0.000	0.076	2442	2237	3250
435	-0.83	-146.0	48.4	-12.2	73	442	0.20	2.25	0.00	0.000	4	0.151	0.083	2494	3604	3252
534	-0.78	-146.0	57.7	-8.7	90	540	0.00	2.20	0.00	0.000	6	0.000	0.057	2494	2217	3253
878	-0.71	-146.0	86.8	-8.6	151	884	0.12	2.25	0.00	0.000	4	0.155	0.069	2531	818	3252
1037	-0.71	-146.0	99.2	-7.9	179	1044	0.00	2.35	0.00	0.000	6	0.000	0.074	2523	2235	3252
1360	-0.78	-146.0	123.3	-7.4	196	1364	0.00	2.33	0.00	0.000	4	0.000	0.069	2522	811	3252
1411	-0.78	-146.0	127.5	-8.4	198	1415	0.00	2.35	0.00	0.000	6	0.000	0.071	2514	2235	3252
1733	-0.78	-146.0	153.2	-8.0	214	1736	0.00	2.25	0.00	0.000	4	0.000	0.085	2503	3605	3252
1817	-0.83	-146.0	160.4	-8.4	217	1823	0.00	2.20	0.00	0.000	6	0.000	0.057	2503	2220	3252
2133	-0.83	-146.0	184.2	-7.0	233	2134	0.00	0.00	0.00	0.000	6	0.000	0.000	2503	2219	3252
2445	-0.83	-146.0	205.2	-6.6	248	2448	0.00	2.25	0.00	0.000	4	0.000	0.071	2503	816	3252
2478	-0.83	-146.0	207.7	-6.7	249	2482	0.00	2.35	0.00	0.000	6	0.000	0.071	2493	2243	3252
2799	-0.83	-146.0	231.3	-7.3	265	2800	0.00	0.00	0.00	0.000	6	0.000	0.000	2493	2243	3252
3108	-0.83	-146.0	253.4	-7.5	280	3109	0.00	0.00	0.00	0.000	6	0.000	0.000	2493	2243	3252
3418	-0.83	-146.0	276.1	-7.5	295	3419	0.00	0.00	0.00	0.000	6	0.000	0.000	2493	2243	3251
3727	-0.83	-146.0	300.6	-8.4	310	3731	0.00	2.35	0.00	0.000	4	0.000	0.071	2493	811	3251
3759	-0.83	-146.0	303.3	-8.4	311	3765	0.00	2.35	0.00	0.000	6	0.000	0.071	2483	2234	3252
4075	-0.83	-146.0	326.3	-7.2	327	4078	0.00	2.33	0.00	0.000	4	0.000	0.082	2483	821	3252
4143	-0.78	-146.0	331.3	-7.3	330	4148	0.15	2.35	0.00	0.000	6	0.139	0.077	2514	2232	3252
4471	-0.90	-146.0	349.5	-4.8	346	4475	0.12	2.28	0.00	0.000	4	0.088	0.084	2454	3610	3251
4515	-0.82	-146.0	352.6	-7.1	348	4520	0.17	2.20	0.00	0.000	6	0.152	0.057	2501	2224	3251
4836	-0.90	-146.0	369.0	-4.6	364	4840	0.00	2.28	0.00	0.000	4	0.000	0.071	2501	809	3251
4860	-0.95	-146.0	370.1	-4.7	365	4864	0.00	2.38	0.00	0.000	6	0.000	0.074	2493	2242	3251
5193	-1.01	-146.0	385.1	-5.3	381	5198	0.12	2.22	0.00	0.000	4	0.083	0.084	2428	3601	3251
5238	-0.84	-146.0	388.5	-8.1	383	5243	0.22	2.17	0.00	0.000	6	0.150	0.057	2494	2216	3251
5569	-0.92	-146.0	406.5	-5.3	396	5571	0.00	0.00	0.00	0.000	6	0.000	0.000	2494	2216	3251
5894	-1.01	-146.0	425.4	-6.1	404	5898	0.12	2.25	0.00	0.000	4	0.091	0.069	2443	817	3251
5904	-1.01	-146.0	426.3	-6.3	404	5909	0.12	2.35	0.00	0.000	6	0.147	0.070	2467	2241	3251
6127	end dive: TARGET_DEPTH_EXCEEDED
state	6127	begin apogee
6135	-0.31	0.0	441.1	6.4	410	6263	0.47	0.00	124.62	1.176	6	0.131	0.000	2618	1733	2650
6263	end apogee: CONTROL_FINISHED_OK
state	6263	begin climb
6266	0.99	146.0	444.2	0.0	413	6404	0.85	2.62	130.18	1.093	4	0.096	0.073	2903	335	2054
6435	0.79	146.0	431.4	11.5	417	6440	0.22	2.58	0.00	0.000	6	0.134	0.061	2845	1751	2052
6760	0.81	158.6	408.4	6.6	425	6776	0.00	2.42	11.07	0.989	4	0.000	0.074	2845	3163	2003
6871	0.69	158.6	400.1	7.9	427	6876	0.10	2.38	0.00	0.000	6	0.143	0.057	2828	1738	2002
7193	0.89	251.8	384.7	4.0	443	7279	0.15	0.00	82.60	1.091	6	0.074	0.000	2890	1738	1623
7584	0.82	251.8	350.0	9.4	462	7589	0.12	2.40	0.00	0.000	4	0.128	0.071	2864	332	1613
7635	0.94	251.8	345.6	7.7	464	7639	0.00	2.38	0.00	0.000	6	0.000	0.059	2864	1748	1613
7952	0.94	251.8	321.8	7.4	479	7955	0.00	2.33	0.00	0.000	4	0.000	0.074	2864	3162	1610
7991	0.87	251.8	318.4	8.9	480	7997	0.00	2.33	0.00	0.000	6	0.000	0.057	2873	1729	1609
8307	0.89	262.5	295.2	6.7	496	8321	0.00	2.35	8.15	0.945	4	0.000	0.072	2884	326	1580
8384	0.98	271.5	290.1	6.7	499	8399	0.00	2.35	9.98	0.967	6	0.000	0.061	2883	1744	1543
8727	0.98	271.5	264.5	8.3	516	8731	0.00	2.33	0.00	0.000	4	0.000	0.091	2884	3155	1541
8821	0.91	271.5	254.9	10.4	520	8825	0.00	2.30	0.00	0.000	6	0.000	0.058	2893	1725	1540
9142	0.91	271.5	224.7	9.3	536	9146	0.00	2.28	0.00	0.000	4	0.000	0.073	2904	331	1539
9188	0.91	271.5	220.4	9.7	538	9193	0.12	2.33	0.00	0.000	6	0.132	0.061	2869	1754	1539
9515	1.08	297.4	198.3	6.2	554	9545	0.15	2.35	24.08	1.024	4	0.074	0.077	2934	3155	1437
9603	0.87	297.4	188.9	12.1	558	9607	0.28	2.30	0.00	0.000	6	0.135	0.059	2864	1733	1435
9936	1.09	313.1	165.2	6.5	574	9958	0.17	2.35	14.48	0.973	4	0.069	0.074	2950	318	1373
9986	0.98	313.1	160.0	11.5	576	9991	0.22	2.38	0.00	0.000	6	0.139	0.064	2885	1748	1373
10309	1.09	316.7	136.0	6.9	592	10318	0.12	2.33	4.15	0.709	4	0.077	0.078	2940	3161	1358
10353	0.87	316.7	131.3	12.4	594	10358	0.30	2.30	0.00	0.000	6	0.136	0.061	2862	1737	1358
10681	1.56	316.7	106.7	9.5	610	10686	0.45	2.33	0.00	0.000	4	0.093	0.074	3020	324	1356
10721	1.49	316.7	102.1	11.6	612	10725	0.00	2.35	0.00	0.000	6	0.000	0.064	3020	1752	1356
11064	1.17	316.7	48.2	14.0	671	11071	0.28	2.40	0.00	0.000	4	0.150	0.074	2946	319	1356
11173	1.17	316.7	35.5	11.0	690	11179	0.00	2.35	0.00	0.000	6	0.000	0.064	2946	1748	1356
11505	end climb: SURFACE_DEPTH_REACHED
state	11506	begin surface coast
11539	end surface coast: CONTROL_FINISHED_OK
state	11539	begin surface