Glider dive log

DavisStrait Sep08 * SG108 * Dive index * Mission links * Dive 363 * 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 363 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 -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 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 363 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 0.231,0.033

_SM_DEPTHo 3.43 KALMAN_X 171719.6,28.8,28.8,-291980.4,-2493.6

_SM_ANGLEo -3.9 KALMAN_Y -284286.2,17.1,17.1,208301.3,-259.9

GPS2 154059,6613.136,-6022.036,8,3.3,27,-37.3 MHEAD_RNG_PITCHd_Wd 119.2,180052,-13.0,-7.021

SPEED_LIMITS 0.122,0.233 D_GRID 411

Post-dive calculations and measurements:

FREEZE 6.87,-1.812,-1.794 TCM_TEMP 14.80

FINISH1 6.9,1.026288,67 XPDR_PINGS 32

FINISH2 6.2 _24V_AH 22.1,61.989

RAFOS_CLK 516 _10V_AH 10.5,28.178

RAFOS 0,1227557041,20.083334,20.066944,67,62,59,53,51,51,194,209,147,173,157,117 DATA_FILE_SIZE 25235,798

RAFOS_FIX 109057.250000,-2411061.000000,241108,161636,2,93,29484.27 CAP_FILE_SIZE 98400,0

IRIDIUM_FIX 6548.42,-6024.58,170298,151529 CFSIZE 260165632,227344384

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

HUMID 1816 SOUNDSPEED 1443.8

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

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 8 149 27.27 SBE_CT 559 24 296.51

Roll_motor 104 86 199.20 SBE_O2 0 0 0.00

VBD_pump_during_apogee 382 1145 9678.96 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 74.26

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 0 50 0.00

TT8 1411 19 295.25

LPSleep 7568 2 183.57

TT8_Active 462 19 96.74

TT8_Sampling 1445 39 605.72

TT8_CF8 187 45 90.18

TT8_Kalman 32 81 27.83

Analog_circuits 1260 12 158.81

GPS_charging 0 0 0.00

Compass 1439 8 120.95

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 61 0.00 0.00 -42.53 0.000 6 0.000 0.000 2697 328 3247

65 -0.99 -146.0 3.2 -1.9 8 71 0.62 0.82 0.00 0.000 4 0.057 0.062 2449 822 3248

232 -0.71 -146.0 20.3 -12.7 37 239 0.30 2.33 0.00 0.000 6 0.137 0.073 2526 2243 3252

578 -0.77 -146.0 48.9 -8.0 98 584 0.00 2.22 0.00 0.000 4 0.000 0.084 2517 3598 3253

591 -0.83 -146.0 50.0 -8.3 100 598 0.00 2.20 0.00 0.000 6 0.000 0.057 2517 2213 3253

935 -0.83 -146.0 80.4 -8.1 161 941 0.00 2.33 0.00 0.000 4 0.000 0.082 2507 3604 3252

959 -0.83 -146.0 82.6 -8.9 165 965 0.00 2.20 0.00 0.000 6 0.000 0.057 2507 2216 3252

1293 -0.83 -146.0 108.1 -7.8 211 1297 0.00 2.25 0.00 0.000 4 0.000 0.069 2507 811 3252

1310 -0.83 -146.0 109.5 -8.0 211 1316 0.00 2.35 0.00 0.000 6 0.000 0.069 2497 2237 3252

1627 -0.83 -146.0 136.7 -8.9 227 1628 0.00 0.00 0.00 0.000 6 0.000 0.000 2498 2237 3252

1935 -0.83 -146.0 161.7 -7.8 242 1939 0.00 2.25 0.00 0.000 4 0.000 0.085 2487 3609 3252

1968 -0.83 -146.0 164.4 -8.4 243 1972 0.00 2.20 0.00 0.000 6 0.000 0.057 2487 2220 3252

2290 -0.83 -146.0 186.9 -6.8 259 2293 0.00 2.25 0.00 0.000 4 0.000 0.070 2486 814 3252

2368 -0.78 -146.0 192.8 -8.0 262 2373 0.12 2.35 0.00 0.000 6 0.140 0.071 2511 2239 3251

2687 -0.85 -146.0 211.7 -6.3 277 2688 0.00 0.00 0.00 0.000 6 0.000 0.000 2511 2239 3252

2994 -0.94 -146.0 231.3 -6.5 292 2998 0.12 2.33 0.00 0.000 4 0.091 0.069 2460 822 3251

3027 -0.78 -146.0 234.1 -8.6 293 3034 0.22 2.35 0.00 0.000 6 0.140 0.072 2514 2243 3251

3343 -0.88 -146.0 254.5 -6.2 309 3348 0.10 2.35 0.00 0.000 4 0.100 0.070 2474 813 3251

3383 -0.77 -146.0 257.6 -8.4 311 3388 0.17 2.35 0.00 0.000 6 0.139 0.071 2513 2237 3251

3713 -0.89 -146.0 279.5 -6.6 327 3715 0.10 0.00 0.00 0.000 6 0.099 0.000 2474 2237 3251

4019 -0.89 -146.0 303.7 -8.0 342 4023 0.00 2.33 0.00 0.000 4 0.000 0.071 2473 815 3251

4120 -0.81 -146.0 312.2 -8.1 346 4125 0.15 2.35 0.00 0.000 6 0.140 0.071 2506 2240 3251

4441 -0.92 -146.0 332.4 -5.9 362 4446 0.10 2.33 0.00 0.000 4 0.099 0.070 2465 822 3251

4486 -0.81 -146.0 335.9 -8.3 364 4490 0.17 2.35 0.00 0.000 6 0.139 0.071 2504 2240 3251

4808 -0.91 -146.0 355.3 -5.9 380 4809 0.00 0.00 0.00 0.000 6 0.000 0.000 2504 2240 3251

5116 -1.03 -146.0 371.0 -4.8 395 5121 0.17 2.25 0.00 0.000 4 0.083 0.084 2426 3605 3250

5253 -0.87 -146.0 380.9 -7.5 401 5258 0.22 2.20 0.00 0.000 6 0.150 0.057 2494 2216 3250

5574 -0.95 -146.0 396.1 -4.8 417 5576 0.00 0.00 0.00 0.000 6 0.000 0.000 2495 2215 3251

5897 end dive: TARGET_DEPTH_EXCEEDED

state 5897 begin apogee

5905 -0.31 0.0 411.2 4.6 427 6032 0.38 0.00 124.30 1.146 6 0.122 0.000 2615 1738 2650

6033 end apogee: CONTROL_FINISHED_OK

state 6033 begin climb

6036 0.99 146.0 413.1 0.0 430 6173 0.88 2.70 129.32 1.068 4 0.097 0.074 2896 3149 2054

6205 0.67 146.0 399.6 11.8 434 6210 0.30 2.50 0.00 0.000 6 0.135 0.055 2827 1735 2050

6532 0.78 175.3 376.5 6.1 450 6564 0.08 2.45 25.85 1.032 4 0.095 0.071 2873 327 1934

6587 0.73 175.3 372.0 8.6 452 6593 0.15 2.47 0.00 0.000 6 0.123 0.060 2833 1754 1934

6905 0.85 202.3 351.2 6.2 468 6935 0.12 2.40 24.02 1.035 4 0.077 0.074 2885 3155 1825

6999 0.65 202.3 342.1 11.2 472 7004 0.28 2.35 0.00 0.000 6 0.130 0.056 2816 1727 1822

7321 0.88 242.4 323.0 5.7 488 7364 0.17 2.35 35.95 1.044 4 0.067 0.069 2902 331 1661

7393 0.82 242.4 316.0 10.4 491 7398 0.17 2.38 0.00 0.000 6 0.130 0.058 2853 1749 1659

7714 0.92 242.4 290.8 7.4 507 7719 0.10 2.30 0.00 0.000 4 0.084 0.072 2897 3158 1655

7770 0.70 242.4 284.8 11.6 509 7777 0.28 2.30 0.00 0.000 6 0.131 0.057 2826 1728 1654

8086 1.37 253.9 264.6 6.7 525 8099 0.47 0.00 10.07 0.949 6 0.090 0.000 2988 1728 1614

8395 1.03 253.9 224.9 13.6 540 8400 0.28 2.30 0.00 0.000 4 0.141 0.075 2912 327 1613

8467 0.98 253.9 217.9 8.5 543 8472 0.00 2.33 0.00 0.000 6 0.000 0.061 2912 1748 1613

8784 0.91 253.9 187.9 9.6 558 8788 0.12 2.30 0.00 0.000 4 0.137 0.074 2876 3162 1612

8839 0.86 253.9 182.5 9.9 560 8845 0.00 2.30 0.00 0.000 6 0.000 0.059 2884 1727 1611

9155 0.86 253.9 157.6 7.7 576 9159 0.00 2.30 0.00 0.000 4 0.000 0.074 2893 323 1611

9205 0.86 253.9 152.8 9.1 578 9210 0.12 2.33 0.00 0.000 6 0.122 0.062 2858 1746 1611

9528 1.03 259.0 131.1 6.9 594 9539 0.15 2.30 5.35 0.798 4 0.072 0.076 2924 3161 1594

9630 0.81 259.0 119.8 11.5 598 9636 0.28 2.30 0.00 0.000 6 0.134 0.059 2853 1725 1594

9946 1.10 287.7 100.4 6.1 614 9980 0.20 2.33 27.33 0.970 4 0.080 0.073 2943 327 1477

10021 1.20 287.7 94.0 8.8 624 10027 0.00 2.38 0.00 0.000 6 0.000 0.063 2943 1751 1476

10366 1.10 287.7 58.7 10.4 685 10373 0.10 2.33 0.00 0.000 4 0.145 0.079 2916 3158 1472

10425 1.00 287.7 52.6 10.3 695 10432 0.12 2.30 0.00 0.000 6 0.140 0.060 2889 1731 1471

10771 1.13 287.7 26.8 8.2 756 10777 0.12 0.00 0.00 0.000 6 0.077 0.000 2945 1731 1469

10972 end climb: FINISH_DEPTH_REACHED

state 10972 begin subsurface finish

10980 0.08 66.9 6.9 -8.3 792 11016 0.77 2.38 -28.83 0.000 4 0.127 0.087 2696 328 2382

11017 end subsurface finish: CONTROL_FINISHED_OK

state 11017 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	363	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	-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	0.231,0.033
_SM_DEPTHo	3.43	KALMAN_X	171719.6,28.8,28.8,-291980.4,-2493.6
_SM_ANGLEo	-3.9	KALMAN_Y	-284286.2,17.1,17.1,208301.3,-259.9
GPS2	154059,6613.136,-6022.036,8,3.3,27,-37.3	MHEAD_RNG_PITCHd_Wd	119.2,180052,-13.0,-7.021
SPEED_LIMITS	0.122,0.233	D_GRID	411

FREEZE	6.87,-1.812,-1.794	TCM_TEMP	14.80
FINISH1	6.9,1.026288,67	XPDR_PINGS	32
FINISH2	6.2	_24V_AH	22.1,61.989
RAFOS_CLK	516	_10V_AH	10.5,28.178
RAFOS	0,1227557041,20.083334,20.066944,67,62,59,53,51,51,194,209,147,173,157,117	DATA_FILE_SIZE	25235,798
RAFOS_FIX	109057.250000,-2411061.000000,241108,161636,2,93,29484.27	CAP_FILE_SIZE	98400,0
IRIDIUM_FIX	6548.42,-6024.58,170298,151529	CFSIZE	260165632,227344384
TT8_MAMPS	0.026845	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
HUMID	1816	SOUNDSPEED	1443.8
INTERNAL_PRESSURE	9.89296	GPS	231108,154059,6613.136,-6022.036,8,3.3,27,-37.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	8	149	27.27	SBE_CT	559	24	296.51
Roll_motor	104	86	199.20	SBE_O2	0	0	0.00
VBD_pump_during_apogee	382	1145	9678.96	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	74.26
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	0	50	0.00
TT8	1411	19	295.25
LPSleep	7568	2	183.57
TT8_Active	462	19	96.74
TT8_Sampling	1445	39	605.72
TT8_CF8	187	45	90.18
TT8_Kalman	32	81	27.83
Analog_circuits	1260	12	158.81
GPS_charging	0	0	0.00
Compass	1439	8	120.95
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	61	0.00	0.00	-42.53	0.000	6	0.000	0.000	2697	328	3247
65	-0.99	-146.0	3.2	-1.9	8	71	0.62	0.82	0.00	0.000	4	0.057	0.062	2449	822	3248
232	-0.71	-146.0	20.3	-12.7	37	239	0.30	2.33	0.00	0.000	6	0.137	0.073	2526	2243	3252
578	-0.77	-146.0	48.9	-8.0	98	584	0.00	2.22	0.00	0.000	4	0.000	0.084	2517	3598	3253
591	-0.83	-146.0	50.0	-8.3	100	598	0.00	2.20	0.00	0.000	6	0.000	0.057	2517	2213	3253
935	-0.83	-146.0	80.4	-8.1	161	941	0.00	2.33	0.00	0.000	4	0.000	0.082	2507	3604	3252
959	-0.83	-146.0	82.6	-8.9	165	965	0.00	2.20	0.00	0.000	6	0.000	0.057	2507	2216	3252
1293	-0.83	-146.0	108.1	-7.8	211	1297	0.00	2.25	0.00	0.000	4	0.000	0.069	2507	811	3252
1310	-0.83	-146.0	109.5	-8.0	211	1316	0.00	2.35	0.00	0.000	6	0.000	0.069	2497	2237	3252
1627	-0.83	-146.0	136.7	-8.9	227	1628	0.00	0.00	0.00	0.000	6	0.000	0.000	2498	2237	3252
1935	-0.83	-146.0	161.7	-7.8	242	1939	0.00	2.25	0.00	0.000	4	0.000	0.085	2487	3609	3252
1968	-0.83	-146.0	164.4	-8.4	243	1972	0.00	2.20	0.00	0.000	6	0.000	0.057	2487	2220	3252
2290	-0.83	-146.0	186.9	-6.8	259	2293	0.00	2.25	0.00	0.000	4	0.000	0.070	2486	814	3252
2368	-0.78	-146.0	192.8	-8.0	262	2373	0.12	2.35	0.00	0.000	6	0.140	0.071	2511	2239	3251
2687	-0.85	-146.0	211.7	-6.3	277	2688	0.00	0.00	0.00	0.000	6	0.000	0.000	2511	2239	3252
2994	-0.94	-146.0	231.3	-6.5	292	2998	0.12	2.33	0.00	0.000	4	0.091	0.069	2460	822	3251
3027	-0.78	-146.0	234.1	-8.6	293	3034	0.22	2.35	0.00	0.000	6	0.140	0.072	2514	2243	3251
3343	-0.88	-146.0	254.5	-6.2	309	3348	0.10	2.35	0.00	0.000	4	0.100	0.070	2474	813	3251
3383	-0.77	-146.0	257.6	-8.4	311	3388	0.17	2.35	0.00	0.000	6	0.139	0.071	2513	2237	3251
3713	-0.89	-146.0	279.5	-6.6	327	3715	0.10	0.00	0.00	0.000	6	0.099	0.000	2474	2237	3251
4019	-0.89	-146.0	303.7	-8.0	342	4023	0.00	2.33	0.00	0.000	4	0.000	0.071	2473	815	3251
4120	-0.81	-146.0	312.2	-8.1	346	4125	0.15	2.35	0.00	0.000	6	0.140	0.071	2506	2240	3251
4441	-0.92	-146.0	332.4	-5.9	362	4446	0.10	2.33	0.00	0.000	4	0.099	0.070	2465	822	3251
4486	-0.81	-146.0	335.9	-8.3	364	4490	0.17	2.35	0.00	0.000	6	0.139	0.071	2504	2240	3251
4808	-0.91	-146.0	355.3	-5.9	380	4809	0.00	0.00	0.00	0.000	6	0.000	0.000	2504	2240	3251
5116	-1.03	-146.0	371.0	-4.8	395	5121	0.17	2.25	0.00	0.000	4	0.083	0.084	2426	3605	3250
5253	-0.87	-146.0	380.9	-7.5	401	5258	0.22	2.20	0.00	0.000	6	0.150	0.057	2494	2216	3250
5574	-0.95	-146.0	396.1	-4.8	417	5576	0.00	0.00	0.00	0.000	6	0.000	0.000	2495	2215	3251
5897	end dive: TARGET_DEPTH_EXCEEDED
state	5897	begin apogee
5905	-0.31	0.0	411.2	4.6	427	6032	0.38	0.00	124.30	1.146	6	0.122	0.000	2615	1738	2650
6033	end apogee: CONTROL_FINISHED_OK
state	6033	begin climb
6036	0.99	146.0	413.1	0.0	430	6173	0.88	2.70	129.32	1.068	4	0.097	0.074	2896	3149	2054
6205	0.67	146.0	399.6	11.8	434	6210	0.30	2.50	0.00	0.000	6	0.135	0.055	2827	1735	2050
6532	0.78	175.3	376.5	6.1	450	6564	0.08	2.45	25.85	1.032	4	0.095	0.071	2873	327	1934
6587	0.73	175.3	372.0	8.6	452	6593	0.15	2.47	0.00	0.000	6	0.123	0.060	2833	1754	1934
6905	0.85	202.3	351.2	6.2	468	6935	0.12	2.40	24.02	1.035	4	0.077	0.074	2885	3155	1825
6999	0.65	202.3	342.1	11.2	472	7004	0.28	2.35	0.00	0.000	6	0.130	0.056	2816	1727	1822
7321	0.88	242.4	323.0	5.7	488	7364	0.17	2.35	35.95	1.044	4	0.067	0.069	2902	331	1661
7393	0.82	242.4	316.0	10.4	491	7398	0.17	2.38	0.00	0.000	6	0.130	0.058	2853	1749	1659
7714	0.92	242.4	290.8	7.4	507	7719	0.10	2.30	0.00	0.000	4	0.084	0.072	2897	3158	1655
7770	0.70	242.4	284.8	11.6	509	7777	0.28	2.30	0.00	0.000	6	0.131	0.057	2826	1728	1654
8086	1.37	253.9	264.6	6.7	525	8099	0.47	0.00	10.07	0.949	6	0.090	0.000	2988	1728	1614
8395	1.03	253.9	224.9	13.6	540	8400	0.28	2.30	0.00	0.000	4	0.141	0.075	2912	327	1613
8467	0.98	253.9	217.9	8.5	543	8472	0.00	2.33	0.00	0.000	6	0.000	0.061	2912	1748	1613
8784	0.91	253.9	187.9	9.6	558	8788	0.12	2.30	0.00	0.000	4	0.137	0.074	2876	3162	1612
8839	0.86	253.9	182.5	9.9	560	8845	0.00	2.30	0.00	0.000	6	0.000	0.059	2884	1727	1611
9155	0.86	253.9	157.6	7.7	576	9159	0.00	2.30	0.00	0.000	4	0.000	0.074	2893	323	1611
9205	0.86	253.9	152.8	9.1	578	9210	0.12	2.33	0.00	0.000	6	0.122	0.062	2858	1746	1611
9528	1.03	259.0	131.1	6.9	594	9539	0.15	2.30	5.35	0.798	4	0.072	0.076	2924	3161	1594
9630	0.81	259.0	119.8	11.5	598	9636	0.28	2.30	0.00	0.000	6	0.134	0.059	2853	1725	1594
9946	1.10	287.7	100.4	6.1	614	9980	0.20	2.33	27.33	0.970	4	0.080	0.073	2943	327	1477
10021	1.20	287.7	94.0	8.8	624	10027	0.00	2.38	0.00	0.000	6	0.000	0.063	2943	1751	1476
10366	1.10	287.7	58.7	10.4	685	10373	0.10	2.33	0.00	0.000	4	0.145	0.079	2916	3158	1472
10425	1.00	287.7	52.6	10.3	695	10432	0.12	2.30	0.00	0.000	6	0.140	0.060	2889	1731	1471
10771	1.13	287.7	26.8	8.2	756	10777	0.12	0.00	0.00	0.000	6	0.077	0.000	2945	1731	1469
10972	end climb: FINISH_DEPTH_REACHED
state	10972	begin subsurface finish
10980	0.08	66.9	6.9	-8.3	792	11016	0.77	2.38	-28.83	0.000	4	0.127	0.087	2696	328	2382
11017	end subsurface finish: CONTROL_FINISHED_OK
state	11017	begin surface