Glider dive log

DavisStrait Sep08 * SG108 * Dive index * Mission links * Dive 350 * 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 350 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 20 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 20 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 350 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 -0.106,0.208

_SM_DEPTHo 3.72 KALMAN_X 295506.8,-1625.5,-1976.9,-262980.3,10823.6

_SM_ANGLEo -6.2 KALMAN_Y -216293.4,2283.7,6825.6,225608.8,-10713.6

GPS2 162120,6618.403,-6021.352,0,2074.5,0,-37.7 MHEAD_RNG_PITCHd_Wd 10.6,174814,-13.0,-7.021

SPEED_LIMITS 0.122,0.233 D_GRID 439

Post-dive calculations and measurements:

FREEZE 6.83,-1.760,-1.783 TCM_TEMP 14.90

FINISH1 6.8,1.026128,75 XPDR_PINGS 31

FINISH2 5.8 _24V_AH 22.1,60.370

RAFOS_CLK 543 _10V_AH 10.5,27.541

RAFOS 0,1227413051,4.083333,4.069722,58,52,51,51,51,48,189,219,198,240,701,208 DATA_FILE_SIZE 28387,850

RAFOS_FIX 6703.882812,-5927.936035,231108,040456,4,76,2.12 CAP_FILE_SIZE 94510,0

IRIDIUM_FIX 6548.42,-6029.22,160298,060607 CFSIZE 260165632,228016128

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

HUMID 1822 SOUNDSPEED 1443.4

INTERNAL_PRESSURE 9.88319 GPS 231108,043056,6703.883,-5927.936,0,4075.8,0,-37.7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 5 158 18.77 SBE_CT 596 24 316.19

Roll_motor 87 85 163.93 SBE_O2 0 0 0.00

VBD_pump_during_apogee 383 1174 9960.19 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 1566 19 327.55

LPSleep 7910 2 191.86

TT8_Active 481 19 100.62

TT8_Sampling 1593 39 667.78

TT8_CF8 172 45 83.20

TT8_Kalman 33 81 28.70

Analog_circuits 1310 12 165.06

GPS_charging 0 0 0.00

Compass 1586 8 133.24

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 68 0.00 0.00 -48.83 0.000 6 0.000 0.000 2701 324 3246

71 -0.99 -146.0 2.8 -2.2 9 78 0.68 0.82 0.00 0.000 4 0.086 0.062 2458 824 3248

320 -0.76 -146.0 29.7 -10.9 53 327 0.25 2.30 0.00 0.000 6 0.146 0.072 2518 2237 3251

665 -0.76 -146.0 53.9 -7.5 114 671 0.00 0.00 0.00 0.000 6 0.000 0.000 2518 2237 3252

1008 -0.82 -146.0 76.6 -7.4 175 1014 0.00 0.00 0.00 0.000 6 0.000 0.000 2518 2237 3252

1354 -0.86 -146.0 103.8 -8.4 231 1358 0.10 2.25 0.00 0.000 4 0.097 0.084 2467 3596 3251

1471 -0.75 -146.0 116.6 -10.9 236 1476 0.17 2.20 0.00 0.000 6 0.155 0.058 2519 2222 3251

1798 -0.83 -146.0 145.2 -8.7 252 1802 0.00 2.28 0.00 0.000 4 0.000 0.071 2520 812 3251

1871 -0.89 -146.0 151.5 -8.0 255 1875 0.10 2.38 0.00 0.000 6 0.088 0.071 2469 2245 3251

2192 -0.79 -146.0 181.0 -9.1 271 2197 0.15 2.25 0.00 0.000 4 0.158 0.085 2501 3608 3251

2327 -0.84 -146.0 191.7 -7.9 277 2331 0.00 2.20 0.00 0.000 6 0.000 0.058 2501 2225 3251

2660 -0.84 -146.0 213.8 -6.1 293 2661 0.00 0.00 0.00 0.000 6 0.000 0.000 2501 2224 3251

2968 -0.84 -146.0 231.8 -5.7 308 2970 0.00 0.00 0.00 0.000 6 0.000 0.000 2501 2224 3251

3279 -0.84 -146.0 250.0 -6.3 323 3283 0.00 2.33 0.00 0.000 4 0.000 0.085 2492 3607 3251

3363 -0.84 -146.0 256.4 -7.9 326 3370 0.00 2.20 0.00 0.000 6 0.000 0.058 2492 2225 3251

3679 -0.84 -146.0 278.1 -6.8 342 3683 0.00 2.28 0.00 0.000 4 0.000 0.072 2492 816 3251

3877 -0.84 -146.0 293.0 -7.2 350 3883 0.00 2.35 0.00 0.000 6 0.000 0.071 2483 2233 3251

4192 -0.84 -146.0 316.8 -7.7 366 4196 0.00 2.25 0.00 0.000 4 0.000 0.084 2472 3611 3251

4450 -0.84 -146.0 337.9 -8.0 377 4454 0.10 2.22 0.00 0.000 6 0.156 0.058 2497 2212 3251

4771 -0.89 -146.0 358.3 -5.5 393 4775 0.00 2.25 0.00 0.000 4 0.000 0.071 2497 813 3251

4867 -0.94 -146.0 363.7 -5.0 397 4871 0.00 2.35 0.00 0.000 6 0.000 0.071 2489 2232 3250

5194 -0.94 -146.0 379.2 -4.5 413 5198 0.00 2.25 0.00 0.000 4 0.000 0.084 2479 3604 3250

5287 -0.99 -146.0 384.4 -6.2 417 5291 0.00 2.20 0.00 0.000 6 0.000 0.057 2479 2217 3250

5619 -0.99 -146.0 405.0 -5.3 431 5623 0.00 2.25 0.00 0.000 4 0.000 0.071 2479 818 3250

5675 -0.93 -146.0 408.7 -5.9 432 5679 0.00 2.35 0.00 0.000 6 0.000 0.069 2469 2242 3250

5993 -0.93 -146.0 427.6 -6.5 440 5997 0.00 2.22 0.00 0.000 4 0.000 0.083 2459 3601 3250

6153 end dive: TARGET_DEPTH_EXCEEDED

state 6153 begin apogee

6164 -0.31 0.0 439.1 7.8 443 6291 0.47 0.00 124.53 1.174 6 0.130 0.000 2611 1731 2650

6292 end apogee: CONTROL_FINISHED_OK

state 6292 begin climb

6295 0.99 146.0 442.1 0.0 446 6429 0.90 0.00 130.77 1.088 6 0.100 0.000 2897 1731 2054

6749 0.77 146.0 398.7 11.3 458 6754 0.20 2.50 0.00 0.000 4 0.130 0.074 2841 3162 2047

6771 0.66 146.0 396.3 9.9 459 6776 0.12 2.40 0.00 0.000 6 0.137 0.058 2816 1735 2046

7098 0.80 172.6 374.7 6.2 475 7128 0.12 2.53 22.45 1.059 4 0.077 0.074 2871 3164 1946

7141 0.66 172.6 371.2 8.7 477 7146 0.22 2.38 0.00 0.000 6 0.133 0.057 2818 1727 1945

7468 0.86 207.8 349.7 5.9 493 7505 0.17 2.45 31.35 1.064 4 0.068 0.072 2892 3158 1802

7512 0.71 207.8 346.2 8.1 494 7517 0.25 2.35 0.00 0.000 6 0.133 0.055 2831 1730 1801

7833 0.96 281.6 329.2 4.6 510 7902 0.20 0.00 66.03 1.059 6 0.066 0.000 2916 1730 1501

8203 0.86 281.6 292.0 10.9 528 8207 0.17 2.33 0.00 0.000 4 0.131 0.071 2874 333 1491

8236 0.98 281.6 289.0 7.7 529 8242 0.00 2.35 0.00 0.000 6 0.000 0.061 2874 1749 1490

8551 1.07 281.6 264.9 7.5 545 8553 0.12 0.00 0.00 0.000 6 0.078 0.000 2929 1749 1487

8861 0.96 281.6 231.6 10.9 560 8863 0.15 0.00 0.00 0.000 6 0.135 0.000 2886 1748 1486

9170 1.02 281.6 205.7 8.3 575 9174 0.00 2.38 0.00 0.000 4 0.000 0.077 2886 3160 1485

9187 1.02 281.6 204.2 8.6 576 9191 0.00 2.30 0.00 0.000 6 0.000 0.058 2894 1734 1484

9514 1.02 281.6 176.3 8.0 592 9515 0.00 0.00 0.00 0.000 6 0.000 0.000 2894 1734 1484

9822 1.02 281.6 150.5 8.7 607 9824 0.00 0.00 0.00 0.000 6 0.000 0.000 2894 1734 1483

10132 1.02 281.6 122.4 9.2 622 10136 0.00 2.40 0.00 0.000 4 0.000 0.077 2894 3158 1482

10166 0.98 281.6 119.0 10.0 623 10170 0.00 2.30 0.00 0.000 6 0.000 0.060 2903 1733 1482

10492 0.98 281.6 90.1 7.9 653 10498 0.00 0.00 0.00 0.000 6 0.000 0.000 2904 1733 1482

10836 1.05 281.6 61.2 7.6 714 10842 0.00 2.33 0.00 0.000 4 0.000 0.075 2914 324 1481

10906 1.16 294.3 56.5 6.6 726 10919 0.00 2.35 8.68 0.886 6 0.000 0.064 2914 1738 1450

11258 1.16 294.3 32.1 7.9 788 11264 0.00 2.33 0.00 0.000 4 0.000 0.079 2913 3158 1449

11299 1.16 294.3 28.6 8.6 795 11305 0.00 2.30 0.00 0.000 6 0.000 0.061 2924 1732 1449

11574 end climb: FINISH_DEPTH_REACHED

state 11574 begin subsurface finish

11582 0.09 74.7 6.8 -7.4 844 11617 0.70 0.00 -29.05 0.000 6 0.124 0.000 2697 1732 2348

11618 end subsurface finish: CONTROL_FINISHED_OK

state 11618 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	350	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	20	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	-0.106,0.208
_SM_DEPTHo	3.72	KALMAN_X	295506.8,-1625.5,-1976.9,-262980.3,10823.6
_SM_ANGLEo	-6.2	KALMAN_Y	-216293.4,2283.7,6825.6,225608.8,-10713.6
GPS2	162120,6618.403,-6021.352,0,2074.5,0,-37.7	MHEAD_RNG_PITCHd_Wd	10.6,174814,-13.0,-7.021
SPEED_LIMITS	0.122,0.233	D_GRID	439

FREEZE	6.83,-1.760,-1.783	TCM_TEMP	14.90
FINISH1	6.8,1.026128,75	XPDR_PINGS	31
FINISH2	5.8	_24V_AH	22.1,60.370
RAFOS_CLK	543	_10V_AH	10.5,27.541
RAFOS	0,1227413051,4.083333,4.069722,58,52,51,51,51,48,189,219,198,240,701,208	DATA_FILE_SIZE	28387,850
RAFOS_FIX	6703.882812,-5927.936035,231108,040456,4,76,2.12	CAP_FILE_SIZE	94510,0
IRIDIUM_FIX	6548.42,-6029.22,160298,060607	CFSIZE	260165632,228016128
TT8_MAMPS	0.026845	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
HUMID	1822	SOUNDSPEED	1443.4
INTERNAL_PRESSURE	9.88319	GPS	231108,043056,6703.883,-5927.936,0,4075.8,0,-37.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	5	158	18.77	SBE_CT	596	24	316.19
Roll_motor	87	85	163.93	SBE_O2	0	0	0.00
VBD_pump_during_apogee	383	1174	9960.19	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	1566	19	327.55
LPSleep	7910	2	191.86
TT8_Active	481	19	100.62
TT8_Sampling	1593	39	667.78
TT8_CF8	172	45	83.20
TT8_Kalman	33	81	28.70
Analog_circuits	1310	12	165.06
GPS_charging	0	0	0.00
Compass	1586	8	133.24
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	68	0.00	0.00	-48.83	0.000	6	0.000	0.000	2701	324	3246
71	-0.99	-146.0	2.8	-2.2	9	78	0.68	0.82	0.00	0.000	4	0.086	0.062	2458	824	3248
320	-0.76	-146.0	29.7	-10.9	53	327	0.25	2.30	0.00	0.000	6	0.146	0.072	2518	2237	3251
665	-0.76	-146.0	53.9	-7.5	114	671	0.00	0.00	0.00	0.000	6	0.000	0.000	2518	2237	3252
1008	-0.82	-146.0	76.6	-7.4	175	1014	0.00	0.00	0.00	0.000	6	0.000	0.000	2518	2237	3252
1354	-0.86	-146.0	103.8	-8.4	231	1358	0.10	2.25	0.00	0.000	4	0.097	0.084	2467	3596	3251
1471	-0.75	-146.0	116.6	-10.9	236	1476	0.17	2.20	0.00	0.000	6	0.155	0.058	2519	2222	3251
1798	-0.83	-146.0	145.2	-8.7	252	1802	0.00	2.28	0.00	0.000	4	0.000	0.071	2520	812	3251
1871	-0.89	-146.0	151.5	-8.0	255	1875	0.10	2.38	0.00	0.000	6	0.088	0.071	2469	2245	3251
2192	-0.79	-146.0	181.0	-9.1	271	2197	0.15	2.25	0.00	0.000	4	0.158	0.085	2501	3608	3251
2327	-0.84	-146.0	191.7	-7.9	277	2331	0.00	2.20	0.00	0.000	6	0.000	0.058	2501	2225	3251
2660	-0.84	-146.0	213.8	-6.1	293	2661	0.00	0.00	0.00	0.000	6	0.000	0.000	2501	2224	3251
2968	-0.84	-146.0	231.8	-5.7	308	2970	0.00	0.00	0.00	0.000	6	0.000	0.000	2501	2224	3251
3279	-0.84	-146.0	250.0	-6.3	323	3283	0.00	2.33	0.00	0.000	4	0.000	0.085	2492	3607	3251
3363	-0.84	-146.0	256.4	-7.9	326	3370	0.00	2.20	0.00	0.000	6	0.000	0.058	2492	2225	3251
3679	-0.84	-146.0	278.1	-6.8	342	3683	0.00	2.28	0.00	0.000	4	0.000	0.072	2492	816	3251
3877	-0.84	-146.0	293.0	-7.2	350	3883	0.00	2.35	0.00	0.000	6	0.000	0.071	2483	2233	3251
4192	-0.84	-146.0	316.8	-7.7	366	4196	0.00	2.25	0.00	0.000	4	0.000	0.084	2472	3611	3251
4450	-0.84	-146.0	337.9	-8.0	377	4454	0.10	2.22	0.00	0.000	6	0.156	0.058	2497	2212	3251
4771	-0.89	-146.0	358.3	-5.5	393	4775	0.00	2.25	0.00	0.000	4	0.000	0.071	2497	813	3251
4867	-0.94	-146.0	363.7	-5.0	397	4871	0.00	2.35	0.00	0.000	6	0.000	0.071	2489	2232	3250
5194	-0.94	-146.0	379.2	-4.5	413	5198	0.00	2.25	0.00	0.000	4	0.000	0.084	2479	3604	3250
5287	-0.99	-146.0	384.4	-6.2	417	5291	0.00	2.20	0.00	0.000	6	0.000	0.057	2479	2217	3250
5619	-0.99	-146.0	405.0	-5.3	431	5623	0.00	2.25	0.00	0.000	4	0.000	0.071	2479	818	3250
5675	-0.93	-146.0	408.7	-5.9	432	5679	0.00	2.35	0.00	0.000	6	0.000	0.069	2469	2242	3250
5993	-0.93	-146.0	427.6	-6.5	440	5997	0.00	2.22	0.00	0.000	4	0.000	0.083	2459	3601	3250
6153	end dive: TARGET_DEPTH_EXCEEDED
state	6153	begin apogee
6164	-0.31	0.0	439.1	7.8	443	6291	0.47	0.00	124.53	1.174	6	0.130	0.000	2611	1731	2650
6292	end apogee: CONTROL_FINISHED_OK
state	6292	begin climb
6295	0.99	146.0	442.1	0.0	446	6429	0.90	0.00	130.77	1.088	6	0.100	0.000	2897	1731	2054
6749	0.77	146.0	398.7	11.3	458	6754	0.20	2.50	0.00	0.000	4	0.130	0.074	2841	3162	2047
6771	0.66	146.0	396.3	9.9	459	6776	0.12	2.40	0.00	0.000	6	0.137	0.058	2816	1735	2046
7098	0.80	172.6	374.7	6.2	475	7128	0.12	2.53	22.45	1.059	4	0.077	0.074	2871	3164	1946
7141	0.66	172.6	371.2	8.7	477	7146	0.22	2.38	0.00	0.000	6	0.133	0.057	2818	1727	1945
7468	0.86	207.8	349.7	5.9	493	7505	0.17	2.45	31.35	1.064	4	0.068	0.072	2892	3158	1802
7512	0.71	207.8	346.2	8.1	494	7517	0.25	2.35	0.00	0.000	6	0.133	0.055	2831	1730	1801
7833	0.96	281.6	329.2	4.6	510	7902	0.20	0.00	66.03	1.059	6	0.066	0.000	2916	1730	1501
8203	0.86	281.6	292.0	10.9	528	8207	0.17	2.33	0.00	0.000	4	0.131	0.071	2874	333	1491
8236	0.98	281.6	289.0	7.7	529	8242	0.00	2.35	0.00	0.000	6	0.000	0.061	2874	1749	1490
8551	1.07	281.6	264.9	7.5	545	8553	0.12	0.00	0.00	0.000	6	0.078	0.000	2929	1749	1487
8861	0.96	281.6	231.6	10.9	560	8863	0.15	0.00	0.00	0.000	6	0.135	0.000	2886	1748	1486
9170	1.02	281.6	205.7	8.3	575	9174	0.00	2.38	0.00	0.000	4	0.000	0.077	2886	3160	1485
9187	1.02	281.6	204.2	8.6	576	9191	0.00	2.30	0.00	0.000	6	0.000	0.058	2894	1734	1484
9514	1.02	281.6	176.3	8.0	592	9515	0.00	0.00	0.00	0.000	6	0.000	0.000	2894	1734	1484
9822	1.02	281.6	150.5	8.7	607	9824	0.00	0.00	0.00	0.000	6	0.000	0.000	2894	1734	1483
10132	1.02	281.6	122.4	9.2	622	10136	0.00	2.40	0.00	0.000	4	0.000	0.077	2894	3158	1482
10166	0.98	281.6	119.0	10.0	623	10170	0.00	2.30	0.00	0.000	6	0.000	0.060	2903	1733	1482
10492	0.98	281.6	90.1	7.9	653	10498	0.00	0.00	0.00	0.000	6	0.000	0.000	2904	1733	1482
10836	1.05	281.6	61.2	7.6	714	10842	0.00	2.33	0.00	0.000	4	0.000	0.075	2914	324	1481
10906	1.16	294.3	56.5	6.6	726	10919	0.00	2.35	8.68	0.886	6	0.000	0.064	2914	1738	1450
11258	1.16	294.3	32.1	7.9	788	11264	0.00	2.33	0.00	0.000	4	0.000	0.079	2913	3158	1449
11299	1.16	294.3	28.6	8.6	795	11305	0.00	2.30	0.00	0.000	6	0.000	0.061	2924	1732	1449
11574	end climb: FINISH_DEPTH_REACHED
state	11574	begin subsurface finish
11582	0.09	74.7	6.8	-7.4	844	11617	0.70	0.00	-29.05	0.000	6	0.124	0.000	2697	1732	2348
11618	end subsurface finish: CONTROL_FINISHED_OK
state	11618	begin surface