Glider dive log

DavisStrait Sep08 * SG108 * Dive index * Mission links * Dive 365 * 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 365 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 -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 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 365 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 4.07 KALMAN_X 166433.9,-30.1,-30.1,-286571.1,-2534.6

_SM_ANGLEo -4.2 KALMAN_Y -284983.6,-17.8,-17.8,209072.0,-284.4

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 6.74,-1.814,-1.794 TCM_TEMP 14.80

FINISH1 6.7,1.026284,67 XPDR_PINGS 28

FINISH2 5.8 _24V_AH 22.1,62.217

RAFOS_CLK 516 _10V_AH 10.5,28.273

RAFOS 0,1227585854,4.083333,4.070556,71,68,56,53,50,50,209,196,162,134,151,175 DATA_FILE_SIZE 25322,812

RAFOS_FIX 52821.421875,887851.312500,251108,040416,2,81,7383.19 CAP_FILE_SIZE 93711,0

IRIDIUM_FIX 6548.42,-6024.58,170298,151529 CFSIZE 260165632,227250176

TT8_MAMPS 0.026845 ERRORS 0,2,0,0,0,0,0,0,0,0,0,0,0,0,0

HUMID 1811 SOUNDSPEED 1444.2

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 5 154 19.09 SBE_CT 569 24 301.88

Roll_motor 102 87 198.31 SBE_O2 0 0 0.00

VBD_pump_during_apogee 373 1138 9393.48 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 7 420 64.97

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 0 50 0.00

TT8 1476 19 308.77

LPSleep 7586 2 184.01

TT8_Active 445 19 93.12

TT8_Sampling 1422 39 596.08

TT8_CF8 187 45 90.31

TT8_Kalman 32 81 27.84

Analog_circuits 1230 12 155.00

GPS_charging 0 0 0.00

Compass 1420 8 119.29

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 52 0.00 0.00 -33.42 0.000 2 0.000 0.000 2687 3159 3087

55 -0.99 -146.0 3.1 -1.2 6 69 0.62 3.90 -6.93 0.000 4 0.069 0.071 2464 810 3249

202 -0.77 -146.0 17.6 -11.1 31 209 0.20 2.35 0.00 0.000 6 0.144 0.070 2511 2238 3253

547 -0.77 -146.0 49.5 -9.5 92 552 0.00 0.00 0.00 0.000 6 0.000 0.000 2511 2238 3253

891 -0.77 -146.0 77.2 -6.3 153 897 0.00 2.33 0.00 0.000 4 0.000 0.070 2514 817 3253

904 -0.77 -146.0 78.1 -6.0 155 910 0.00 2.35 0.00 0.000 6 0.000 0.071 2506 2243 3253

1248 -0.77 -146.0 105.3 -8.4 208 1251 0.00 2.22 0.00 0.000 4 0.000 0.084 2495 3602 3253

1258 -0.77 -146.0 106.3 -8.9 208 1262 0.00 2.20 0.00 0.000 6 0.000 0.056 2496 2210 3253

1579 -0.77 -146.0 131.4 -7.6 224 1583 0.00 2.33 0.00 0.000 4 0.000 0.083 2488 3598 3253

1652 -0.77 -146.0 137.8 -8.7 227 1656 0.10 2.17 0.00 0.000 6 0.155 0.057 2513 2223 3253

1978 -0.83 -146.0 160.6 -7.1 243 1982 0.00 2.28 0.00 0.000 4 0.000 0.071 2513 810 3252

2018 -0.83 -146.0 163.8 -7.5 244 2024 0.00 2.35 0.00 0.000 6 0.000 0.070 2505 2236 3252

2335 -0.83 -146.0 188.1 -7.3 260 2336 0.00 0.00 0.00 0.000 6 0.000 0.000 2505 2236 3252

2643 -0.88 -146.0 209.2 -6.8 275 2644 0.00 0.00 0.00 0.000 6 0.000 0.000 2505 2236 3252

2953 -0.94 -146.0 230.6 -6.7 290 2957 0.10 2.33 0.00 0.000 4 0.094 0.070 2459 821 3252

3031 -0.80 -146.0 237.3 -8.9 293 3038 0.20 2.35 0.00 0.000 6 0.139 0.071 2506 2243 3252

3349 -0.89 -146.0 256.8 -6.1 309 3353 0.00 2.35 0.00 0.000 4 0.000 0.071 2507 810 3252

3373 -0.95 -146.0 258.5 -6.6 310 3378 0.10 2.35 0.00 0.000 6 0.087 0.070 2457 2244 3252

3705 -0.87 -146.0 286.1 -8.7 326 3710 0.12 2.22 0.00 0.000 4 0.154 0.084 2481 3597 3252

3733 -0.87 -146.0 288.6 -9.0 327 3737 0.00 2.17 0.00 0.000 6 0.000 0.057 2481 2224 3252

4060 -0.87 -146.0 312.3 -6.9 343 4062 0.00 0.00 0.00 0.000 6 0.000 0.000 2481 2223 3251

4370 -0.87 -146.0 331.2 -5.6 358 4371 0.00 0.00 0.00 0.000 6 0.000 0.000 2481 2223 3252

4680 -0.87 -146.0 345.8 -4.5 373 4681 0.00 0.00 0.00 0.000 6 0.000 0.000 2481 2223 3252

4988 -0.87 -146.0 359.7 -4.7 388 4992 0.00 2.25 0.00 0.000 4 0.000 0.070 2481 819 3251

5005 -0.87 -146.0 360.6 -4.7 388 5011 0.00 2.35 0.00 0.000 6 0.000 0.069 2471 2245 3251

5321 -0.87 -146.0 377.4 -5.4 404 5325 0.00 2.33 0.00 0.000 4 0.000 0.067 2471 818 3252

5377 -0.87 -146.0 380.9 -6.6 406 5382 0.12 2.35 0.00 0.000 6 0.136 0.069 2494 2243 3252

5695 -0.96 -146.0 396.8 -4.8 421 5699 0.10 2.33 0.00 0.000 4 0.091 0.067 2453 820 3252

5707 -1.01 -146.0 397.5 -4.7 421 5711 0.00 2.33 0.00 0.000 6 0.000 0.067 2443 2234 3252

5919 end dive: TARGET_DEPTH_EXCEEDED

state 5920 begin apogee

5926 -0.31 0.0 411.1 6.2 428 6054 0.55 0.00 124.50 1.139 6 0.131 0.000 2615 1735 2650

6055 end apogee: CONTROL_FINISHED_OK

state 6055 begin climb

6057 0.99 146.0 412.7 0.0 431 6195 0.85 2.70 129.50 1.056 4 0.094 0.072 2891 3144 2053

6238 0.69 146.0 397.9 11.2 435 6243 0.28 2.47 0.00 0.000 6 0.134 0.054 2829 1741 2049

6553 0.72 174.0 377.7 6.1 450 6583 0.00 2.50 24.48 1.023 4 0.000 0.071 2833 329 1940

6620 0.87 202.8 373.5 6.1 453 6653 0.12 2.45 26.85 1.016 6 0.076 0.059 2886 1750 1823

6973 0.75 202.8 339.9 9.9 470 6977 0.17 2.38 0.00 0.000 4 0.128 0.074 2836 3160 1818

7057 0.75 202.8 332.4 8.7 473 7063 0.00 2.35 0.00 0.000 6 0.000 0.055 2843 1723 1816

7373 0.81 204.7 309.6 7.0 489 7374 0.00 0.00 0.00 0.000 6 0.000 0.000 2843 1723 1816

7683 0.91 224.1 289.3 6.4 504 7704 0.12 0.00 18.58 1.012 6 0.080 0.000 2899 1723 1736

8011 0.81 224.1 257.5 9.2 520 8016 0.17 2.40 0.00 0.000 4 0.128 0.071 2846 3160 1734

8061 0.81 224.1 253.5 7.3 522 8065 0.00 2.30 0.00 0.000 6 0.000 0.055 2854 1724 1733

8383 0.96 278.7 235.9 5.3 538 8439 0.12 2.40 49.28 1.019 4 0.081 0.070 2922 327 1513

8473 0.90 278.7 228.0 9.3 542 8478 0.17 2.38 0.00 0.000 6 0.133 0.059 2873 1748 1511

8795 0.97 278.7 202.8 7.9 558 8799 0.00 2.30 0.00 0.000 4 0.000 0.075 2873 3150 1504

8864 0.97 278.7 196.8 8.8 561 8869 0.00 2.28 0.00 0.000 6 0.000 0.056 2881 1731 1503

9192 1.02 278.7 169.0 8.4 577 9196 0.00 2.30 0.00 0.000 4 0.000 0.074 2890 323 1502

9226 1.11 278.7 165.9 9.0 578 9231 0.12 2.33 0.00 0.000 6 0.080 0.060 2945 1747 1502

9542 0.95 278.7 128.4 12.3 593 9546 0.20 2.30 0.00 0.000 4 0.137 0.074 2881 3162 1501

9586 0.95 278.7 123.6 9.9 595 9590 0.00 2.30 0.00 0.000 6 0.000 0.060 2888 1728 1500

9907 1.05 278.7 96.7 7.6 616 9912 0.00 0.00 0.00 0.000 6 0.000 0.000 2889 1728 1499

10251 1.17 278.7 67.8 7.9 677 10257 0.15 2.30 0.00 0.000 4 0.073 0.074 2963 325 1498

10281 1.17 278.7 64.7 9.2 682 10288 0.12 2.33 0.00 0.000 6 0.140 0.063 2929 1747 1498

10626 1.17 278.7 33.7 8.4 743 10633 0.00 2.30 0.00 0.000 4 0.000 0.077 2929 3159 1498

10696 1.03 278.7 27.9 7.9 755 10703 0.15 2.30 0.00 0.000 6 0.137 0.061 2894 1728 1497

10983 end climb: FINISH_DEPTH_REACHED

state 10983 begin subsurface finish

10990 0.08 67.1 6.7 -7.5 806 11026 0.57 2.30 -28.02 0.000 4 0.110 0.087 2698 330 2380

11027 end subsurface finish: CONTROL_FINISHED_OK

state 11027 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	365	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	-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	4.07	KALMAN_X	166433.9,-30.1,-30.1,-286571.1,-2534.6
_SM_ANGLEo	-4.2	KALMAN_Y	-284983.6,-17.8,-17.8,209072.0,-284.4
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	6.74,-1.814,-1.794	TCM_TEMP	14.80
FINISH1	6.7,1.026284,67	XPDR_PINGS	28
FINISH2	5.8	_24V_AH	22.1,62.217
RAFOS_CLK	516	_10V_AH	10.5,28.273
RAFOS	0,1227585854,4.083333,4.070556,71,68,56,53,50,50,209,196,162,134,151,175	DATA_FILE_SIZE	25322,812
RAFOS_FIX	52821.421875,887851.312500,251108,040416,2,81,7383.19	CAP_FILE_SIZE	93711,0
IRIDIUM_FIX	6548.42,-6024.58,170298,151529	CFSIZE	260165632,227250176
TT8_MAMPS	0.026845	ERRORS	0,2,0,0,0,0,0,0,0,0,0,0,0,0,0
HUMID	1811	SOUNDSPEED	1444.2
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	5	154	19.09	SBE_CT	569	24	301.88
Roll_motor	102	87	198.31	SBE_O2	0	0	0.00
VBD_pump_during_apogee	373	1138	9393.48	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	7	420	64.97
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	0	50	0.00
TT8	1476	19	308.77
LPSleep	7586	2	184.01
TT8_Active	445	19	93.12
TT8_Sampling	1422	39	596.08
TT8_CF8	187	45	90.31
TT8_Kalman	32	81	27.84
Analog_circuits	1230	12	155.00
GPS_charging	0	0	0.00
Compass	1420	8	119.29
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	52	0.00	0.00	-33.42	0.000	2	0.000	0.000	2687	3159	3087
55	-0.99	-146.0	3.1	-1.2	6	69	0.62	3.90	-6.93	0.000	4	0.069	0.071	2464	810	3249
202	-0.77	-146.0	17.6	-11.1	31	209	0.20	2.35	0.00	0.000	6	0.144	0.070	2511	2238	3253
547	-0.77	-146.0	49.5	-9.5	92	552	0.00	0.00	0.00	0.000	6	0.000	0.000	2511	2238	3253
891	-0.77	-146.0	77.2	-6.3	153	897	0.00	2.33	0.00	0.000	4	0.000	0.070	2514	817	3253
904	-0.77	-146.0	78.1	-6.0	155	910	0.00	2.35	0.00	0.000	6	0.000	0.071	2506	2243	3253
1248	-0.77	-146.0	105.3	-8.4	208	1251	0.00	2.22	0.00	0.000	4	0.000	0.084	2495	3602	3253
1258	-0.77	-146.0	106.3	-8.9	208	1262	0.00	2.20	0.00	0.000	6	0.000	0.056	2496	2210	3253
1579	-0.77	-146.0	131.4	-7.6	224	1583	0.00	2.33	0.00	0.000	4	0.000	0.083	2488	3598	3253
1652	-0.77	-146.0	137.8	-8.7	227	1656	0.10	2.17	0.00	0.000	6	0.155	0.057	2513	2223	3253
1978	-0.83	-146.0	160.6	-7.1	243	1982	0.00	2.28	0.00	0.000	4	0.000	0.071	2513	810	3252
2018	-0.83	-146.0	163.8	-7.5	244	2024	0.00	2.35	0.00	0.000	6	0.000	0.070	2505	2236	3252
2335	-0.83	-146.0	188.1	-7.3	260	2336	0.00	0.00	0.00	0.000	6	0.000	0.000	2505	2236	3252
2643	-0.88	-146.0	209.2	-6.8	275	2644	0.00	0.00	0.00	0.000	6	0.000	0.000	2505	2236	3252
2953	-0.94	-146.0	230.6	-6.7	290	2957	0.10	2.33	0.00	0.000	4	0.094	0.070	2459	821	3252
3031	-0.80	-146.0	237.3	-8.9	293	3038	0.20	2.35	0.00	0.000	6	0.139	0.071	2506	2243	3252
3349	-0.89	-146.0	256.8	-6.1	309	3353	0.00	2.35	0.00	0.000	4	0.000	0.071	2507	810	3252
3373	-0.95	-146.0	258.5	-6.6	310	3378	0.10	2.35	0.00	0.000	6	0.087	0.070	2457	2244	3252
3705	-0.87	-146.0	286.1	-8.7	326	3710	0.12	2.22	0.00	0.000	4	0.154	0.084	2481	3597	3252
3733	-0.87	-146.0	288.6	-9.0	327	3737	0.00	2.17	0.00	0.000	6	0.000	0.057	2481	2224	3252
4060	-0.87	-146.0	312.3	-6.9	343	4062	0.00	0.00	0.00	0.000	6	0.000	0.000	2481	2223	3251
4370	-0.87	-146.0	331.2	-5.6	358	4371	0.00	0.00	0.00	0.000	6	0.000	0.000	2481	2223	3252
4680	-0.87	-146.0	345.8	-4.5	373	4681	0.00	0.00	0.00	0.000	6	0.000	0.000	2481	2223	3252
4988	-0.87	-146.0	359.7	-4.7	388	4992	0.00	2.25	0.00	0.000	4	0.000	0.070	2481	819	3251
5005	-0.87	-146.0	360.6	-4.7	388	5011	0.00	2.35	0.00	0.000	6	0.000	0.069	2471	2245	3251
5321	-0.87	-146.0	377.4	-5.4	404	5325	0.00	2.33	0.00	0.000	4	0.000	0.067	2471	818	3252
5377	-0.87	-146.0	380.9	-6.6	406	5382	0.12	2.35	0.00	0.000	6	0.136	0.069	2494	2243	3252
5695	-0.96	-146.0	396.8	-4.8	421	5699	0.10	2.33	0.00	0.000	4	0.091	0.067	2453	820	3252
5707	-1.01	-146.0	397.5	-4.7	421	5711	0.00	2.33	0.00	0.000	6	0.000	0.067	2443	2234	3252
5919	end dive: TARGET_DEPTH_EXCEEDED
state	5920	begin apogee
5926	-0.31	0.0	411.1	6.2	428	6054	0.55	0.00	124.50	1.139	6	0.131	0.000	2615	1735	2650
6055	end apogee: CONTROL_FINISHED_OK
state	6055	begin climb
6057	0.99	146.0	412.7	0.0	431	6195	0.85	2.70	129.50	1.056	4	0.094	0.072	2891	3144	2053
6238	0.69	146.0	397.9	11.2	435	6243	0.28	2.47	0.00	0.000	6	0.134	0.054	2829	1741	2049
6553	0.72	174.0	377.7	6.1	450	6583	0.00	2.50	24.48	1.023	4	0.000	0.071	2833	329	1940
6620	0.87	202.8	373.5	6.1	453	6653	0.12	2.45	26.85	1.016	6	0.076	0.059	2886	1750	1823
6973	0.75	202.8	339.9	9.9	470	6977	0.17	2.38	0.00	0.000	4	0.128	0.074	2836	3160	1818
7057	0.75	202.8	332.4	8.7	473	7063	0.00	2.35	0.00	0.000	6	0.000	0.055	2843	1723	1816
7373	0.81	204.7	309.6	7.0	489	7374	0.00	0.00	0.00	0.000	6	0.000	0.000	2843	1723	1816
7683	0.91	224.1	289.3	6.4	504	7704	0.12	0.00	18.58	1.012	6	0.080	0.000	2899	1723	1736
8011	0.81	224.1	257.5	9.2	520	8016	0.17	2.40	0.00	0.000	4	0.128	0.071	2846	3160	1734
8061	0.81	224.1	253.5	7.3	522	8065	0.00	2.30	0.00	0.000	6	0.000	0.055	2854	1724	1733
8383	0.96	278.7	235.9	5.3	538	8439	0.12	2.40	49.28	1.019	4	0.081	0.070	2922	327	1513
8473	0.90	278.7	228.0	9.3	542	8478	0.17	2.38	0.00	0.000	6	0.133	0.059	2873	1748	1511
8795	0.97	278.7	202.8	7.9	558	8799	0.00	2.30	0.00	0.000	4	0.000	0.075	2873	3150	1504
8864	0.97	278.7	196.8	8.8	561	8869	0.00	2.28	0.00	0.000	6	0.000	0.056	2881	1731	1503
9192	1.02	278.7	169.0	8.4	577	9196	0.00	2.30	0.00	0.000	4	0.000	0.074	2890	323	1502
9226	1.11	278.7	165.9	9.0	578	9231	0.12	2.33	0.00	0.000	6	0.080	0.060	2945	1747	1502
9542	0.95	278.7	128.4	12.3	593	9546	0.20	2.30	0.00	0.000	4	0.137	0.074	2881	3162	1501
9586	0.95	278.7	123.6	9.9	595	9590	0.00	2.30	0.00	0.000	6	0.000	0.060	2888	1728	1500
9907	1.05	278.7	96.7	7.6	616	9912	0.00	0.00	0.00	0.000	6	0.000	0.000	2889	1728	1499
10251	1.17	278.7	67.8	7.9	677	10257	0.15	2.30	0.00	0.000	4	0.073	0.074	2963	325	1498
10281	1.17	278.7	64.7	9.2	682	10288	0.12	2.33	0.00	0.000	6	0.140	0.063	2929	1747	1498
10626	1.17	278.7	33.7	8.4	743	10633	0.00	2.30	0.00	0.000	4	0.000	0.077	2929	3159	1498
10696	1.03	278.7	27.9	7.9	755	10703	0.15	2.30	0.00	0.000	6	0.137	0.061	2894	1728	1497
10983	end climb: FINISH_DEPTH_REACHED
state	10983	begin subsurface finish
10990	0.08	67.1	6.7	-7.5	806	11026	0.57	2.30	-28.02	0.000	4	0.110	0.087	2698	330	2380
11027	end subsurface finish: CONTROL_FINISHED_OK
state	11027	begin surface