Glider dive log

DavisStrait Sep08 * SG108 * Dive index * Mission links * Dive 357 * 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 357 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 25 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 500 CALL_NDIVES 1 R_STBD_OVSHOOT 18 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 -119219.47 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 -119219.47

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 25 VBD_BLEED_AD_RATE 8

C_VBD 2650 MAX_BUOY 150 R_STBD_OVSHOOT 18 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 357 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 154059,6613.136,-6022.036,8,3.3,27,-37.3 TGT_NAME TARGET_E_IN

_CALLS 2 TGT_LATLONG 6703.000,-5648.000

_XMS_NAKs 5 TGT_RADIUS 10000.000

_XMS_TOUTs 1 KALMAN_CONTROL 0.199,0.123

_SM_DEPTHo 6.17 KALMAN_X 181129.6,-348.1,9019.8,-309544.7,-31323.5

_SM_ANGLEo -5.3 KALMAN_Y -291185.1,16538.9,-4829.3,203678.4,-22835.0

GPS2 154059,6613.136,-6022.036,8,3.3,27,-37.3 MHEAD_RNG_PITCHd_Wd 95.6,180052,-13.0,-7.021

SPEED_LIMITS 0.122,0.233 D_GRID 411

Post-dive calculations and measurements:

FREEZE 6.91,-1.781,-1.794 XPDR_PINGS 32

FINISH1 6.9,1.026288,67 _24V_AH 22.0,61.258

FINISH2 4.6 _10V_AH 10.5,27.891

RAFOS_CLK 526 DATA_FILE_SIZE 28450,828

RAFOS_FIX 81944.054688,-2374344.750000,231108,202050,3,100,27164.20 CAP_FILE_SIZE 97551,0

IRIDIUM_FIX 6548.42,-6024.58,170298,151529 CFSIZE 260165632,227663872

TT8_MAMPS 0.029146 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

HUMID 1825 SOUNDSPEED 1443.1

INTERNAL_PRESSURE 9.89296 GPS 231108,154059,6613.136,-6022.036,8,3.3,27,-37.3

TCM_TEMP 14.90

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 7 156 25.13 SBE_CT 581 24 306.90

Roll_motor 100 102 226.62 SBE_O2 0 0 0.00

VBD_pump_during_apogee 323 1169 8333.58 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 8 420 73.92

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 0 50 0.00

TT8 1490 19 311.73

LPSleep 7540 2 182.90

TT8_Active 405 19 84.77

TT8_Sampling 1503 39 630.37

TT8_CF8 184 45 88.72

TT8_Kalman 33 81 28.44

Analog_circuits 1217 12 153.36

GPS_charging 0 0 0.00

Compass 1497 8 125.79

RAFOS 360 1 5.67

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 24 0.00 0.00 -5.53 0.000 2 0.000 0.000 2696 323 2487

27 -0.99 -146.0 3.1 -0.0 1 68 0.65 0.85 -32.85 0.000 4 0.086 0.103 2459 821 3249

232 -0.76 -146.0 25.8 -14.2 37 239 0.22 2.33 0.00 0.000 6 0.145 0.073 2511 2246 3253

577 -0.76 -146.0 53.2 -8.3 98 583 0.00 2.35 0.00 0.000 4 0.000 0.069 2514 811 3254

607 -0.76 -146.0 55.1 -7.0 103 613 0.00 2.35 0.00 0.000 6 0.000 0.070 2506 2235 3254

951 -0.76 -146.0 80.4 -7.5 164 957 0.00 2.25 0.00 0.000 4 0.000 0.084 2495 3604 3253

1021 -0.72 -146.0 85.6 -7.6 176 1028 0.12 2.20 0.00 0.000 6 0.156 0.057 2529 2217 3253

1369 -0.80 -146.0 105.9 -5.6 224 1374 0.10 2.25 0.00 0.000 4 0.096 0.070 2488 813 3253

1425 -0.69 -146.0 110.4 -8.5 226 1429 0.17 2.35 0.00 0.000 6 0.145 0.071 2527 2235 3253

1741 -0.79 -146.0 133.2 -7.8 241 1745 0.00 2.22 0.00 0.000 4 0.000 0.084 2519 3595 3253

1814 -0.88 -146.0 138.9 -7.2 244 1818 0.12 2.17 0.00 0.000 6 0.089 0.057 2465 2224 3253

2140 -0.76 -146.0 169.4 -10.4 260 2145 0.17 2.28 0.00 0.000 4 0.144 0.071 2524 814 3253

2197 -0.83 -146.0 174.6 -9.0 262 2200 0.00 2.35 0.00 0.000 6 0.000 0.070 2517 2237 3253

2518 -0.89 -146.0 201.3 -7.6 278 2520 0.12 0.00 0.00 0.000 6 0.086 0.000 2462 2237 3253

2827 -0.78 -146.0 230.5 -9.3 293 2829 0.17 0.00 0.00 0.000 6 0.153 0.000 2511 2237 3253

3139 -0.84 -146.0 252.3 -7.3 308 3143 0.00 2.25 0.00 0.000 4 0.000 0.085 2503 3605 3253

3174 -0.91 -146.0 255.1 -7.9 309 3178 0.00 2.20 0.00 0.000 6 0.000 0.058 2502 2218 3253

3495 -0.91 -146.0 276.9 -6.2 325 3496 0.00 0.00 0.00 0.000 6 0.000 0.000 2502 2217 3253

3807 -0.96 -146.0 294.4 -5.3 340 3811 0.12 2.33 0.00 0.000 4 0.090 0.082 2440 3597 3253

3920 -0.80 -146.0 303.5 -8.1 345 3924 0.22 2.17 0.00 0.000 6 0.150 0.057 2504 2225 3252

4253 -0.88 -146.0 322.1 -5.8 361 4257 0.00 2.28 0.00 0.000 4 0.000 0.072 2507 813 3253

4270 -0.93 -146.0 323.3 -6.2 361 4276 0.00 2.35 0.00 0.000 6 0.000 0.070 2499 2236 3253

4587 -0.98 -146.0 342.3 -5.6 377 4589 0.12 0.00 0.00 0.000 6 0.087 0.000 2446 2236 3253

4898 -0.85 -146.0 363.4 -6.9 392 4902 0.20 2.35 0.00 0.000 4 0.151 0.070 2510 813 3253

4942 -0.92 -146.0 366.1 -5.1 394 4947 0.08 2.35 0.00 0.000 6 0.100 0.071 2466 2234 3253

5270 -0.86 -146.0 385.3 -5.9 410 5275 0.10 2.33 0.00 0.000 4 0.151 0.068 2495 820 3253

5314 -0.86 -146.0 387.8 -4.9 412 5318 0.00 2.35 0.00 0.000 6 0.000 0.071 2487 2240 3253

5640 -0.86 -146.0 406.3 -7.4 426 5644 0.00 2.33 0.00 0.000 4 0.000 0.070 2487 820 3252

5715 end dive: TARGET_DEPTH_EXCEEDED

state 5715 begin apogee

5723 -0.31 0.0 411.2 6.2 427 5855 0.40 0.00 124.62 1.170 6 0.127 0.000 2610 1751 2649

5856 end apogee: CONTROL_FINISHED_OK

state 5856 begin climb

5858 0.99 146.0 413.6 0.0 431 5996 0.90 2.65 129.90 1.078 4 0.103 0.077 2895 3145 2053

6022 0.66 146.0 401.1 9.5 434 6029 0.32 2.53 0.00 0.000 6 0.140 0.058 2820 1738 2049

6339 0.77 174.7 380.3 6.1 449 6369 0.10 2.50 25.05 1.045 4 0.084 0.073 2872 317 1937

6404 0.77 174.7 374.7 9.7 452 6409 0.12 2.47 0.00 0.000 6 0.128 0.061 2840 1740 1936

6732 0.87 200.8 351.6 6.2 468 6762 0.12 2.42 23.33 1.051 4 0.079 0.074 2890 3152 1831

6830 0.64 200.8 341.8 10.9 472 6835 0.30 2.35 0.00 0.000 6 0.133 0.057 2815 1729 1828

7147 1.06 205.7 321.6 6.9 487 7158 0.28 2.40 5.15 0.815 4 0.076 0.073 2921 3166 1811

7345 0.76 205.7 299.1 12.1 496 7350 0.30 2.33 0.00 0.000 6 0.138 0.058 2843 1727 1811

7673 0.86 205.7 274.9 7.3 512 7675 0.10 0.00 0.00 0.000 6 0.083 0.000 2891 1726 1811

7981 0.80 205.7 243.7 10.6 527 7986 0.15 2.38 0.00 0.000 4 0.128 0.075 2847 3157 1810

8043 0.80 205.7 237.9 9.1 530 8047 0.00 2.28 0.00 0.000 6 0.000 0.058 2855 1729 1810

8375 0.91 222.0 214.1 6.5 546 8396 0.08 0.00 15.80 1.007 6 0.104 0.000 2895 1729 1744

8705 0.91 222.0 188.3 8.0 562 8706 0.00 0.00 0.00 0.000 6 0.000 0.000 2895 1729 1741

9013 0.91 222.0 164.1 8.2 577 9017 0.00 2.30 0.00 0.000 4 0.000 0.075 2903 327 1740

9036 0.91 222.0 162.1 8.5 578 9041 0.10 2.35 0.00 0.000 6 0.141 0.064 2876 1753 1741

9365 0.98 222.0 138.0 7.3 594 9369 0.00 2.30 0.00 0.000 4 0.000 0.079 2876 3160 1740

9415 0.93 222.0 133.5 9.2 596 9419 0.00 2.30 0.00 0.000 6 0.000 0.060 2884 1728 1739

9743 0.93 222.0 108.9 7.8 612 9747 0.00 2.30 0.00 0.000 4 0.000 0.075 2893 325 1738

9771 0.98 222.0 106.5 7.9 613 9776 0.00 2.33 0.00 0.000 6 0.000 0.064 2893 1749 1739

10107 0.98 222.0 82.7 8.4 660 10113 0.00 2.30 0.00 0.000 4 0.000 0.079 2893 3158 1738

10199 0.89 222.0 73.3 9.8 676 10206 0.12 2.30 0.00 0.000 6 0.141 0.061 2868 1725 1738

10545 1.02 222.0 52.9 7.3 737 10551 0.12 0.00 0.00 0.000 6 0.084 0.000 2925 1724 1738

10889 0.92 222.0 19.4 9.1 798 10896 0.17 2.30 0.00 0.000 4 0.138 0.074 2882 323 1738

10982 1.08 222.0 13.5 9.2 814 10989 0.12 2.35 0.00 0.000 6 0.080 0.065 2939 1751 1738

11033 end climb: FINISH_DEPTH_REACHED

state 11033 begin subsurface finish

11041 0.08 66.9 6.9 -12.6 823 11070 0.75 0.00 -22.27 0.000 6 0.130 0.000 2699 1751 2380

11071 end subsurface finish: CONTROL_FINISHED_OK

state 11071 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	357	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	25	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	500	CALL_NDIVES	1	R_STBD_OVSHOOT	18	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	-119219.47	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	154059,6613.136,-6022.036,8,3.3,27,-37.3	TGT_NAME	TARGET_E_IN
_CALLS	2	TGT_LATLONG	6703.000,-5648.000
_XMS_NAKs	5	TGT_RADIUS	10000.000
_XMS_TOUTs	1	KALMAN_CONTROL	0.199,0.123
_SM_DEPTHo	6.17	KALMAN_X	181129.6,-348.1,9019.8,-309544.7,-31323.5
_SM_ANGLEo	-5.3	KALMAN_Y	-291185.1,16538.9,-4829.3,203678.4,-22835.0
GPS2	154059,6613.136,-6022.036,8,3.3,27,-37.3	MHEAD_RNG_PITCHd_Wd	95.6,180052,-13.0,-7.021
SPEED_LIMITS	0.122,0.233	D_GRID	411

FREEZE	6.91,-1.781,-1.794	XPDR_PINGS	32
FINISH1	6.9,1.026288,67	_24V_AH	22.0,61.258
FINISH2	4.6	_10V_AH	10.5,27.891
RAFOS_CLK	526	DATA_FILE_SIZE	28450,828
RAFOS_FIX	81944.054688,-2374344.750000,231108,202050,3,100,27164.20	CAP_FILE_SIZE	97551,0
IRIDIUM_FIX	6548.42,-6024.58,170298,151529	CFSIZE	260165632,227663872
TT8_MAMPS	0.029146	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
HUMID	1825	SOUNDSPEED	1443.1
INTERNAL_PRESSURE	9.89296	GPS	231108,154059,6613.136,-6022.036,8,3.3,27,-37.3
TCM_TEMP	14.90

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	7	156	25.13	SBE_CT	581	24	306.90
Roll_motor	100	102	226.62	SBE_O2	0	0	0.00
VBD_pump_during_apogee	323	1169	8333.58	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	8	420	73.92
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	0	50	0.00
TT8	1490	19	311.73
LPSleep	7540	2	182.90
TT8_Active	405	19	84.77
TT8_Sampling	1503	39	630.37
TT8_CF8	184	45	88.72
TT8_Kalman	33	81	28.44
Analog_circuits	1217	12	153.36
GPS_charging	0	0	0.00
Compass	1497	8	125.79
RAFOS	360	1	5.67
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	24	0.00	0.00	-5.53	0.000	2	0.000	0.000	2696	323	2487
27	-0.99	-146.0	3.1	-0.0	1	68	0.65	0.85	-32.85	0.000	4	0.086	0.103	2459	821	3249
232	-0.76	-146.0	25.8	-14.2	37	239	0.22	2.33	0.00	0.000	6	0.145	0.073	2511	2246	3253
577	-0.76	-146.0	53.2	-8.3	98	583	0.00	2.35	0.00	0.000	4	0.000	0.069	2514	811	3254
607	-0.76	-146.0	55.1	-7.0	103	613	0.00	2.35	0.00	0.000	6	0.000	0.070	2506	2235	3254
951	-0.76	-146.0	80.4	-7.5	164	957	0.00	2.25	0.00	0.000	4	0.000	0.084	2495	3604	3253
1021	-0.72	-146.0	85.6	-7.6	176	1028	0.12	2.20	0.00	0.000	6	0.156	0.057	2529	2217	3253
1369	-0.80	-146.0	105.9	-5.6	224	1374	0.10	2.25	0.00	0.000	4	0.096	0.070	2488	813	3253
1425	-0.69	-146.0	110.4	-8.5	226	1429	0.17	2.35	0.00	0.000	6	0.145	0.071	2527	2235	3253
1741	-0.79	-146.0	133.2	-7.8	241	1745	0.00	2.22	0.00	0.000	4	0.000	0.084	2519	3595	3253
1814	-0.88	-146.0	138.9	-7.2	244	1818	0.12	2.17	0.00	0.000	6	0.089	0.057	2465	2224	3253
2140	-0.76	-146.0	169.4	-10.4	260	2145	0.17	2.28	0.00	0.000	4	0.144	0.071	2524	814	3253
2197	-0.83	-146.0	174.6	-9.0	262	2200	0.00	2.35	0.00	0.000	6	0.000	0.070	2517	2237	3253
2518	-0.89	-146.0	201.3	-7.6	278	2520	0.12	0.00	0.00	0.000	6	0.086	0.000	2462	2237	3253
2827	-0.78	-146.0	230.5	-9.3	293	2829	0.17	0.00	0.00	0.000	6	0.153	0.000	2511	2237	3253
3139	-0.84	-146.0	252.3	-7.3	308	3143	0.00	2.25	0.00	0.000	4	0.000	0.085	2503	3605	3253
3174	-0.91	-146.0	255.1	-7.9	309	3178	0.00	2.20	0.00	0.000	6	0.000	0.058	2502	2218	3253
3495	-0.91	-146.0	276.9	-6.2	325	3496	0.00	0.00	0.00	0.000	6	0.000	0.000	2502	2217	3253
3807	-0.96	-146.0	294.4	-5.3	340	3811	0.12	2.33	0.00	0.000	4	0.090	0.082	2440	3597	3253
3920	-0.80	-146.0	303.5	-8.1	345	3924	0.22	2.17	0.00	0.000	6	0.150	0.057	2504	2225	3252
4253	-0.88	-146.0	322.1	-5.8	361	4257	0.00	2.28	0.00	0.000	4	0.000	0.072	2507	813	3253
4270	-0.93	-146.0	323.3	-6.2	361	4276	0.00	2.35	0.00	0.000	6	0.000	0.070	2499	2236	3253
4587	-0.98	-146.0	342.3	-5.6	377	4589	0.12	0.00	0.00	0.000	6	0.087	0.000	2446	2236	3253
4898	-0.85	-146.0	363.4	-6.9	392	4902	0.20	2.35	0.00	0.000	4	0.151	0.070	2510	813	3253
4942	-0.92	-146.0	366.1	-5.1	394	4947	0.08	2.35	0.00	0.000	6	0.100	0.071	2466	2234	3253
5270	-0.86	-146.0	385.3	-5.9	410	5275	0.10	2.33	0.00	0.000	4	0.151	0.068	2495	820	3253
5314	-0.86	-146.0	387.8	-4.9	412	5318	0.00	2.35	0.00	0.000	6	0.000	0.071	2487	2240	3253
5640	-0.86	-146.0	406.3	-7.4	426	5644	0.00	2.33	0.00	0.000	4	0.000	0.070	2487	820	3252
5715	end dive: TARGET_DEPTH_EXCEEDED
state	5715	begin apogee
5723	-0.31	0.0	411.2	6.2	427	5855	0.40	0.00	124.62	1.170	6	0.127	0.000	2610	1751	2649
5856	end apogee: CONTROL_FINISHED_OK
state	5856	begin climb
5858	0.99	146.0	413.6	0.0	431	5996	0.90	2.65	129.90	1.078	4	0.103	0.077	2895	3145	2053
6022	0.66	146.0	401.1	9.5	434	6029	0.32	2.53	0.00	0.000	6	0.140	0.058	2820	1738	2049
6339	0.77	174.7	380.3	6.1	449	6369	0.10	2.50	25.05	1.045	4	0.084	0.073	2872	317	1937
6404	0.77	174.7	374.7	9.7	452	6409	0.12	2.47	0.00	0.000	6	0.128	0.061	2840	1740	1936
6732	0.87	200.8	351.6	6.2	468	6762	0.12	2.42	23.33	1.051	4	0.079	0.074	2890	3152	1831
6830	0.64	200.8	341.8	10.9	472	6835	0.30	2.35	0.00	0.000	6	0.133	0.057	2815	1729	1828
7147	1.06	205.7	321.6	6.9	487	7158	0.28	2.40	5.15	0.815	4	0.076	0.073	2921	3166	1811
7345	0.76	205.7	299.1	12.1	496	7350	0.30	2.33	0.00	0.000	6	0.138	0.058	2843	1727	1811
7673	0.86	205.7	274.9	7.3	512	7675	0.10	0.00	0.00	0.000	6	0.083	0.000	2891	1726	1811
7981	0.80	205.7	243.7	10.6	527	7986	0.15	2.38	0.00	0.000	4	0.128	0.075	2847	3157	1810
8043	0.80	205.7	237.9	9.1	530	8047	0.00	2.28	0.00	0.000	6	0.000	0.058	2855	1729	1810
8375	0.91	222.0	214.1	6.5	546	8396	0.08	0.00	15.80	1.007	6	0.104	0.000	2895	1729	1744
8705	0.91	222.0	188.3	8.0	562	8706	0.00	0.00	0.00	0.000	6	0.000	0.000	2895	1729	1741
9013	0.91	222.0	164.1	8.2	577	9017	0.00	2.30	0.00	0.000	4	0.000	0.075	2903	327	1740
9036	0.91	222.0	162.1	8.5	578	9041	0.10	2.35	0.00	0.000	6	0.141	0.064	2876	1753	1741
9365	0.98	222.0	138.0	7.3	594	9369	0.00	2.30	0.00	0.000	4	0.000	0.079	2876	3160	1740
9415	0.93	222.0	133.5	9.2	596	9419	0.00	2.30	0.00	0.000	6	0.000	0.060	2884	1728	1739
9743	0.93	222.0	108.9	7.8	612	9747	0.00	2.30	0.00	0.000	4	0.000	0.075	2893	325	1738
9771	0.98	222.0	106.5	7.9	613	9776	0.00	2.33	0.00	0.000	6	0.000	0.064	2893	1749	1739
10107	0.98	222.0	82.7	8.4	660	10113	0.00	2.30	0.00	0.000	4	0.000	0.079	2893	3158	1738
10199	0.89	222.0	73.3	9.8	676	10206	0.12	2.30	0.00	0.000	6	0.141	0.061	2868	1725	1738
10545	1.02	222.0	52.9	7.3	737	10551	0.12	0.00	0.00	0.000	6	0.084	0.000	2925	1724	1738
10889	0.92	222.0	19.4	9.1	798	10896	0.17	2.30	0.00	0.000	4	0.138	0.074	2882	323	1738
10982	1.08	222.0	13.5	9.2	814	10989	0.12	2.35	0.00	0.000	6	0.080	0.065	2939	1751	1738
11033	end climb: FINISH_DEPTH_REACHED
state	11033	begin subsurface finish
11041	0.08	66.9	6.9	-12.6	823	11070	0.75	0.00	-22.27	0.000	6	0.130	0.000	2699	1751	2380
11071	end subsurface finish: CONTROL_FINISHED_OK
state	11071	begin surface