Glider dive log

DavisStrait Sep08 * SG108 * Dive index * Mission links * Dive 353 * 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 353 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 23 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 23 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 353 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 043056,6703.883,-5927.936,0,4075.8,0,-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 -0.225,-0.060

_SM_DEPTHo 2.35 KALMAN_X 330469.7,-5371.2,2570.1,-276294.8,16336.2

_SM_ANGLEo 20.4 KALMAN_Y -206408.6,16642.1,-9083.1,225755.7,-1820.5

GPS2 043056,6703.883,-5927.936,0,4075.8,0,-37.7 MHEAD_RNG_PITCHd_Wd 292.7,115509,-13.0,-7.021

SPEED_LIMITS 0.122,0.233 D_GRID 1121

Post-dive calculations and measurements:

FREEZE 1.75,-1.911,-1.777 TCM_TEMP 14.90

FINISH 1.8,1.026100 XPDR_PINGS 49

SM_CCo 11728,0.00,0.000,0,0,1461,291.42 _24V_AH 22.0,60.753

SM_GC 2.47,7.10,0.00,0.00,0.061,0.000,0.000,333,2235,1461,-10.70,0.14,291.42 _10V_AH 10.5,27.688

RAFOS_CLK 552 DATA_FILE_SIZE 25297,819

RAFOS 0,1227441844,12.083333,12.067778,55,52,49,47,47,47,210,139,114,188,198,176 CAP_FILE_SIZE 101206,0

RAFOS_FIX 1712.373413,-589031.750000,231108,080816,2,86,44983.59 CFSIZE 260165632,227856384

IRIDIUM_FIX 6548.42,-6029.22,160298,060607 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TT8_MAMPS 0.026845 SOUNDSPEED 1443.0

HUMID 1816 GPS 231108,152444,6613.524,-6022.065,29,1.7,36,-37.3

INTERNAL_PRESSURE 9.81483

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 13 153 45.31 SBE_CT 575 24 303.66

Roll_motor 97 102 218.14 SBE_O2 0 0 0.00

VBD_pump_during_apogee 382 1168 9832.48 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 12 420 113.19

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 0 50 0.00

TT8 1496 19 313.02

LPSleep 8113 2 196.80

TT8_Active 454 19 95.05

TT8_Sampling 1550 39 649.94

TT8_CF8 173 45 83.68

TT8_Kalman 33 81 28.70

Analog_circuits 1274 12 160.59

GPS_charging 0 0 0.00

Compass 1538 8 129.24

RAFOS 1440 1 22.68

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 23 0.00 0.00 -5.40 0.000 2 0.000 0.000 2697 327 2448

27 -0.99 -146.0 3.0 -0.0 1 68 0.65 0.88 -36.35 0.000 4 0.083 0.102 2458 830 3248

114 -0.65 -146.0 9.8 -11.8 16 121 0.32 2.28 0.00 0.000 6 0.153 0.071 2538 2240 3252

459 -0.70 -146.0 38.1 -7.1 77 466 0.00 2.22 0.00 0.000 4 0.000 0.085 2530 3597 3254

719 -0.77 -146.0 58.6 -8.5 123 726 0.00 2.20 0.00 0.000 6 0.000 0.058 2530 2208 3253

1063 -0.85 -146.0 85.9 -7.9 184 1070 0.12 2.33 0.00 0.000 4 0.088 0.084 2467 3593 3254

1324 -0.76 -146.0 111.7 -10.1 215 1328 0.17 2.17 0.00 0.000 6 0.152 0.058 2518 2222 3253

1640 -0.83 -146.0 134.1 -7.3 230 1644 0.00 2.30 0.00 0.000 4 0.000 0.084 2510 3597 3253

1735 -0.89 -146.0 141.6 -7.7 234 1740 0.10 2.17 0.00 0.000 6 0.097 0.058 2466 2227 3254

2057 -0.78 -146.0 172.5 -9.6 250 2059 0.17 0.00 0.00 0.000 6 0.145 0.000 2515 2227 3253

2366 -0.85 -146.0 195.9 -7.6 265 2370 0.00 2.33 0.00 0.000 4 0.000 0.091 2507 3608 3253

2406 -0.92 -146.0 199.2 -8.3 266 2412 0.10 2.20 0.00 0.000 6 0.096 0.058 2464 2221 3253

2721 -0.81 -146.0 229.3 -9.4 282 2726 0.15 2.25 0.00 0.000 4 0.146 0.071 2510 817 3253

2834 -0.81 -146.0 238.5 -7.8 287 2838 0.00 2.35 0.00 0.000 6 0.000 0.072 2502 2241 3253

3168 -0.81 -146.0 263.6 -7.3 303 3169 0.00 0.00 0.00 0.000 6 0.000 0.000 2502 2241 3253

3476 -0.81 -146.0 285.1 -6.6 318 3480 0.00 2.35 0.00 0.000 4 0.000 0.072 2502 810 3253

3545 -0.81 -146.0 289.5 -6.4 321 3549 0.00 2.35 0.00 0.000 6 0.000 0.071 2492 2234 3253

3877 -0.81 -146.0 311.1 -7.0 337 3878 0.00 0.00 0.00 0.000 6 0.000 0.000 2492 2233 3253

4188 -0.81 -146.0 335.0 -8.1 352 4189 0.00 0.00 0.00 0.000 6 0.000 0.000 2492 2233 3253

4496 -0.81 -146.0 357.7 -6.7 367 4500 0.00 2.25 0.00 0.000 4 0.000 0.086 2482 3601 3252

4726 -0.81 -146.0 374.1 -6.9 377 4731 0.10 2.20 0.00 0.000 6 0.153 0.058 2507 2215 3252

5054 -0.92 -146.0 389.5 -4.6 393 5059 0.10 2.25 0.00 0.000 4 0.097 0.070 2464 817 3253

5110 -0.82 -146.0 393.0 -6.2 395 5117 0.17 2.35 0.00 0.000 6 0.141 0.071 2502 2240 3252

5424 -0.92 -146.0 409.2 -5.5 407 5428 0.00 2.22 0.00 0.000 4 0.000 0.084 2494 3595 3252

5492 -1.04 -146.0 413.2 -6.7 408 5496 0.15 2.17 0.00 0.000 6 0.082 0.057 2434 2216 3252

5840 -1.13 -146.0 435.6 -4.8 417 5844 0.00 2.33 0.00 0.000 4 0.000 0.083 2424 3606 3253

5973 end dive: NO_VERTICAL_VELOCITY

state 5973 begin apogee

5982 -0.31 0.0 435.7 0.0 420 6110 0.57 0.00 125.07 1.168 6 0.097 0.000 2620 1738 2650

6111 end apogee: CONTROL_FINISHED_OK

state 6111 begin climb

6114 0.99 146.0 435.5 0.0 423 6252 0.85 2.65 129.85 1.085 4 0.098 0.074 2904 327 2054

6338 0.81 146.0 417.2 9.6 428 6344 0.20 2.55 0.00 0.000 6 0.137 0.062 2853 1750 2050

6652 0.82 147.1 394.3 7.0 437 6656 0.00 2.38 0.00 0.000 4 0.000 0.075 2852 3155 2046

6722 0.68 147.1 389.0 7.7 440 6727 0.15 2.35 0.00 0.000 6 0.135 0.058 2819 1734 2045

7049 0.90 186.4 370.2 5.8 456 7092 0.17 2.47 34.20 1.081 4 0.070 0.074 2894 3156 1889

7126 0.68 186.4 363.7 9.1 459 7131 0.28 2.35 0.00 0.000 6 0.140 0.058 2827 1730 1888

7442 0.83 198.8 342.8 6.6 474 7456 0.12 0.00 11.30 0.998 6 0.074 0.000 2883 1730 1840

7751 0.83 198.8 316.6 8.5 489 7756 0.10 2.38 0.00 0.000 4 0.130 0.074 2856 3155 1838

7778 0.83 198.8 314.3 8.3 490 7783 0.00 2.28 0.00 0.000 6 0.000 0.058 2863 1737 1837

8099 0.83 198.8 287.3 8.6 506 8103 0.00 2.30 0.00 0.000 4 0.000 0.073 2873 332 1836

8127 0.90 198.8 284.7 9.2 507 8131 0.00 2.33 0.00 0.000 6 0.000 0.061 2873 1753 1837

8454 0.90 198.8 255.3 8.5 523 8458 0.00 2.28 0.00 0.000 4 0.000 0.075 2873 3158 1836

8505 0.81 198.8 250.5 9.9 525 8509 0.12 2.28 0.00 0.000 6 0.137 0.059 2847 1738 1835

8827 0.95 201.9 228.5 6.9 541 8837 0.12 2.35 3.47 0.642 4 0.078 0.074 2913 329 1826

8866 0.86 201.9 225.0 9.1 542 8873 0.17 2.33 0.00 0.000 6 0.136 0.063 2863 1748 1828

9182 0.97 218.8 203.4 6.5 558 9205 0.10 2.38 16.42 1.010 4 0.087 0.077 2907 3160 1757

9222 0.82 218.8 200.0 9.1 559 9229 0.22 2.30 0.00 0.000 6 0.137 0.059 2852 1738 1756

9540 1.01 274.5 181.4 5.2 575 9593 0.15 0.00 50.10 1.020 6 0.073 0.000 2917 1738 1530

9888 0.95 274.5 153.2 8.1 592 9890 0.12 0.00 0.00 0.000 6 0.139 0.000 2882 1738 1521

10198 1.05 289.0 133.8 6.6 607 10217 0.10 0.00 12.18 0.937 6 0.086 0.000 2925 1738 1471

10526 0.97 289.0 99.6 11.3 623 10533 0.15 2.38 0.00 0.000 4 0.135 0.078 2882 3151 1468

10546 0.92 289.0 97.6 11.1 626 10553 0.00 2.30 0.00 0.000 6 0.000 0.061 2889 1729 1467

10891 1.01 289.0 66.6 7.6 687 10896 0.00 0.00 0.00 0.000 6 0.000 0.000 2889 1729 1466

11235 1.16 289.0 36.6 8.9 748 11241 0.15 2.33 0.00 0.000 4 0.075 0.077 2962 320 1465

11265 1.16 289.0 33.3 10.2 753 11272 0.12 2.35 0.00 0.000 6 0.148 0.065 2929 1747 1465

11602 end climb: SURFACE_DEPTH_REACHED

state 11605 begin surface coast

11638 end surface coast: CONTROL_FINISHED_OK

state 11638 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	353	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	23	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	043056,6703.883,-5927.936,0,4075.8,0,-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	-0.225,-0.060
_SM_DEPTHo	2.35	KALMAN_X	330469.7,-5371.2,2570.1,-276294.8,16336.2
_SM_ANGLEo	20.4	KALMAN_Y	-206408.6,16642.1,-9083.1,225755.7,-1820.5
GPS2	043056,6703.883,-5927.936,0,4075.8,0,-37.7	MHEAD_RNG_PITCHd_Wd	292.7,115509,-13.0,-7.021
SPEED_LIMITS	0.122,0.233	D_GRID	1121

FREEZE	1.75,-1.911,-1.777	TCM_TEMP	14.90
FINISH	1.8,1.026100	XPDR_PINGS	49
SM_CCo	11728,0.00,0.000,0,0,1461,291.42	_24V_AH	22.0,60.753
SM_GC	2.47,7.10,0.00,0.00,0.061,0.000,0.000,333,2235,1461,-10.70,0.14,291.42	_10V_AH	10.5,27.688
RAFOS_CLK	552	DATA_FILE_SIZE	25297,819
RAFOS	0,1227441844,12.083333,12.067778,55,52,49,47,47,47,210,139,114,188,198,176	CAP_FILE_SIZE	101206,0
RAFOS_FIX	1712.373413,-589031.750000,231108,080816,2,86,44983.59	CFSIZE	260165632,227856384
IRIDIUM_FIX	6548.42,-6029.22,160298,060607	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TT8_MAMPS	0.026845	SOUNDSPEED	1443.0
HUMID	1816	GPS	231108,152444,6613.524,-6022.065,29,1.7,36,-37.3
INTERNAL_PRESSURE	9.81483

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	13	153	45.31	SBE_CT	575	24	303.66
Roll_motor	97	102	218.14	SBE_O2	0	0	0.00
VBD_pump_during_apogee	382	1168	9832.48	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	12	420	113.19
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	0	50	0.00
TT8	1496	19	313.02
LPSleep	8113	2	196.80
TT8_Active	454	19	95.05
TT8_Sampling	1550	39	649.94
TT8_CF8	173	45	83.68
TT8_Kalman	33	81	28.70
Analog_circuits	1274	12	160.59
GPS_charging	0	0	0.00
Compass	1538	8	129.24
RAFOS	1440	1	22.68
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	23	0.00	0.00	-5.40	0.000	2	0.000	0.000	2697	327	2448
27	-0.99	-146.0	3.0	-0.0	1	68	0.65	0.88	-36.35	0.000	4	0.083	0.102	2458	830	3248
114	-0.65	-146.0	9.8	-11.8	16	121	0.32	2.28	0.00	0.000	6	0.153	0.071	2538	2240	3252
459	-0.70	-146.0	38.1	-7.1	77	466	0.00	2.22	0.00	0.000	4	0.000	0.085	2530	3597	3254
719	-0.77	-146.0	58.6	-8.5	123	726	0.00	2.20	0.00	0.000	6	0.000	0.058	2530	2208	3253
1063	-0.85	-146.0	85.9	-7.9	184	1070	0.12	2.33	0.00	0.000	4	0.088	0.084	2467	3593	3254
1324	-0.76	-146.0	111.7	-10.1	215	1328	0.17	2.17	0.00	0.000	6	0.152	0.058	2518	2222	3253
1640	-0.83	-146.0	134.1	-7.3	230	1644	0.00	2.30	0.00	0.000	4	0.000	0.084	2510	3597	3253
1735	-0.89	-146.0	141.6	-7.7	234	1740	0.10	2.17	0.00	0.000	6	0.097	0.058	2466	2227	3254
2057	-0.78	-146.0	172.5	-9.6	250	2059	0.17	0.00	0.00	0.000	6	0.145	0.000	2515	2227	3253
2366	-0.85	-146.0	195.9	-7.6	265	2370	0.00	2.33	0.00	0.000	4	0.000	0.091	2507	3608	3253
2406	-0.92	-146.0	199.2	-8.3	266	2412	0.10	2.20	0.00	0.000	6	0.096	0.058	2464	2221	3253
2721	-0.81	-146.0	229.3	-9.4	282	2726	0.15	2.25	0.00	0.000	4	0.146	0.071	2510	817	3253
2834	-0.81	-146.0	238.5	-7.8	287	2838	0.00	2.35	0.00	0.000	6	0.000	0.072	2502	2241	3253
3168	-0.81	-146.0	263.6	-7.3	303	3169	0.00	0.00	0.00	0.000	6	0.000	0.000	2502	2241	3253
3476	-0.81	-146.0	285.1	-6.6	318	3480	0.00	2.35	0.00	0.000	4	0.000	0.072	2502	810	3253
3545	-0.81	-146.0	289.5	-6.4	321	3549	0.00	2.35	0.00	0.000	6	0.000	0.071	2492	2234	3253
3877	-0.81	-146.0	311.1	-7.0	337	3878	0.00	0.00	0.00	0.000	6	0.000	0.000	2492	2233	3253
4188	-0.81	-146.0	335.0	-8.1	352	4189	0.00	0.00	0.00	0.000	6	0.000	0.000	2492	2233	3253
4496	-0.81	-146.0	357.7	-6.7	367	4500	0.00	2.25	0.00	0.000	4	0.000	0.086	2482	3601	3252
4726	-0.81	-146.0	374.1	-6.9	377	4731	0.10	2.20	0.00	0.000	6	0.153	0.058	2507	2215	3252
5054	-0.92	-146.0	389.5	-4.6	393	5059	0.10	2.25	0.00	0.000	4	0.097	0.070	2464	817	3253
5110	-0.82	-146.0	393.0	-6.2	395	5117	0.17	2.35	0.00	0.000	6	0.141	0.071	2502	2240	3252
5424	-0.92	-146.0	409.2	-5.5	407	5428	0.00	2.22	0.00	0.000	4	0.000	0.084	2494	3595	3252
5492	-1.04	-146.0	413.2	-6.7	408	5496	0.15	2.17	0.00	0.000	6	0.082	0.057	2434	2216	3252
5840	-1.13	-146.0	435.6	-4.8	417	5844	0.00	2.33	0.00	0.000	4	0.000	0.083	2424	3606	3253
5973	end dive: NO_VERTICAL_VELOCITY
state	5973	begin apogee
5982	-0.31	0.0	435.7	0.0	420	6110	0.57	0.00	125.07	1.168	6	0.097	0.000	2620	1738	2650
6111	end apogee: CONTROL_FINISHED_OK
state	6111	begin climb
6114	0.99	146.0	435.5	0.0	423	6252	0.85	2.65	129.85	1.085	4	0.098	0.074	2904	327	2054
6338	0.81	146.0	417.2	9.6	428	6344	0.20	2.55	0.00	0.000	6	0.137	0.062	2853	1750	2050
6652	0.82	147.1	394.3	7.0	437	6656	0.00	2.38	0.00	0.000	4	0.000	0.075	2852	3155	2046
6722	0.68	147.1	389.0	7.7	440	6727	0.15	2.35	0.00	0.000	6	0.135	0.058	2819	1734	2045
7049	0.90	186.4	370.2	5.8	456	7092	0.17	2.47	34.20	1.081	4	0.070	0.074	2894	3156	1889
7126	0.68	186.4	363.7	9.1	459	7131	0.28	2.35	0.00	0.000	6	0.140	0.058	2827	1730	1888
7442	0.83	198.8	342.8	6.6	474	7456	0.12	0.00	11.30	0.998	6	0.074	0.000	2883	1730	1840
7751	0.83	198.8	316.6	8.5	489	7756	0.10	2.38	0.00	0.000	4	0.130	0.074	2856	3155	1838
7778	0.83	198.8	314.3	8.3	490	7783	0.00	2.28	0.00	0.000	6	0.000	0.058	2863	1737	1837
8099	0.83	198.8	287.3	8.6	506	8103	0.00	2.30	0.00	0.000	4	0.000	0.073	2873	332	1836
8127	0.90	198.8	284.7	9.2	507	8131	0.00	2.33	0.00	0.000	6	0.000	0.061	2873	1753	1837
8454	0.90	198.8	255.3	8.5	523	8458	0.00	2.28	0.00	0.000	4	0.000	0.075	2873	3158	1836
8505	0.81	198.8	250.5	9.9	525	8509	0.12	2.28	0.00	0.000	6	0.137	0.059	2847	1738	1835
8827	0.95	201.9	228.5	6.9	541	8837	0.12	2.35	3.47	0.642	4	0.078	0.074	2913	329	1826
8866	0.86	201.9	225.0	9.1	542	8873	0.17	2.33	0.00	0.000	6	0.136	0.063	2863	1748	1828
9182	0.97	218.8	203.4	6.5	558	9205	0.10	2.38	16.42	1.010	4	0.087	0.077	2907	3160	1757
9222	0.82	218.8	200.0	9.1	559	9229	0.22	2.30	0.00	0.000	6	0.137	0.059	2852	1738	1756
9540	1.01	274.5	181.4	5.2	575	9593	0.15	0.00	50.10	1.020	6	0.073	0.000	2917	1738	1530
9888	0.95	274.5	153.2	8.1	592	9890	0.12	0.00	0.00	0.000	6	0.139	0.000	2882	1738	1521
10198	1.05	289.0	133.8	6.6	607	10217	0.10	0.00	12.18	0.937	6	0.086	0.000	2925	1738	1471
10526	0.97	289.0	99.6	11.3	623	10533	0.15	2.38	0.00	0.000	4	0.135	0.078	2882	3151	1468
10546	0.92	289.0	97.6	11.1	626	10553	0.00	2.30	0.00	0.000	6	0.000	0.061	2889	1729	1467
10891	1.01	289.0	66.6	7.6	687	10896	0.00	0.00	0.00	0.000	6	0.000	0.000	2889	1729	1466
11235	1.16	289.0	36.6	8.9	748	11241	0.15	2.33	0.00	0.000	4	0.075	0.077	2962	320	1465
11265	1.16	289.0	33.3	10.2	753	11272	0.12	2.35	0.00	0.000	6	0.148	0.065	2929	1747	1465
11602	end climb: SURFACE_DEPTH_REACHED
state	11605	begin surface coast
11638	end surface coast: CONTROL_FINISHED_OK
state	11638	begin surface