Glider dive log

DavisStrait Sep08 * SG108 * Dive index * Mission links * Dive 523 * 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 523 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 26 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 500 CALL_NDIVES 1 R_STBD_OVSHOOT 21 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 -126385.23 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 60 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 0 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 2 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 60 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 -126385.23

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 2 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 26 VBD_BLEED_AD_RATE 8

C_VBD 2650 MAX_BUOY 150 R_STBD_OVSHOOT 21 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 0 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 523 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 081954,6626.398,-5953.046,0,3077.7,0,-37.3 TGT_NAME TARGET_W_IN

_CALLS 3 TGT_LATLONG 6642.000,-6043.000

_XMS_NAKs 0 TGT_RADIUS 15000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 5.05 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -7.8 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 081954,6626.398,-5953.046,0,3077.7,0,-37.3 MHEAD_RNG_PITCHd_Wd 345.6,46626,-13.0,-7.021

SPEED_LIMITS 0.122,0.233 D_GRID 587

Post-dive calculations and measurements:

FREEZE 1.86,-1.782,-1.777 XPDR_PINGS 66

FINISH 1.9,1.026088 _24V_AH 21.6,84.737

RAFOS_CLK 627 _10V_AH 10.4,38.963

RAFOS 0,1230465842,12.083333,12.067223,83,65,63,57,56,53,659,213,199,143,181,119 DATA_FILE_SIZE 28451,840

RAFOS_FIX 6626.398438,-5953.045898,281208,080854,3,78,0.28 CAP_FILE_SIZE 108351,0

IRIDIUM_FIX 6614.97,-5735.48,170398,050547 CFSIZE 260165632,217317376

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

HUMID 1845 SOUNDSPEED 1444.3

INTERNAL_PRESSURE 9.8246 GPS 281208,081954,6626.398,-5953.046,0,3077.7,0,-37.3

TCM_TEMP 14.90

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 6 154 22.73 SBE_CT 589 24 305.83

Roll_motor 105 80 183.70 SBE_O2 0 0 0.00

VBD_pump_during_apogee 409 1188 10498.57 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 16 420 149.69

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 0 50 0.00

TT8 1569 19 325.16

LPSleep 9723 2 233.59

TT8_Active 455 19 94.46

TT8_Sampling 1619 39 672.36

TT8_CF8 243 45 116.26

TT8_Kalman 0 0 0.00

Analog_circuits 1332 12 166.30

GPS_charging 0 0 0.00

Compass 1608 8 133.80

RAFOS 1800 1 28.08

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 24 0.00 0.00 -5.40 0.000 2 0.000 0.000 2700 324 2496

28 -0.99 -146.0 5.2 -0.0 1 64 0.62 5.47 -27.12 0.000 4 0.059 0.074 2427 3603 3249

263 -0.68 -146.0 35.0 -13.7 42 270 0.35 2.20 0.00 0.000 6 0.154 0.053 2533 2212 3253

610 -0.73 -146.0 64.7 -8.3 103 616 0.00 2.22 0.00 0.000 4 0.000 0.065 2533 818 3254

735 -0.73 -146.0 75.3 -8.3 125 742 0.00 2.33 0.00 0.000 6 0.000 0.065 2526 2234 3254

1094 -0.77 -146.0 103.1 -7.4 183 1098 0.00 2.25 0.00 0.000 4 0.000 0.078 2515 3601 3254

1231 -0.85 -146.0 113.6 -7.8 189 1234 0.00 2.17 0.00 0.000 6 0.000 0.052 2515 2223 3254

1564 -0.85 -146.0 140.6 -8.0 205 1567 0.00 2.25 0.00 0.000 4 0.000 0.066 2515 818 3254

1665 -0.85 -146.0 149.3 -8.4 209 1669 0.00 2.35 0.00 0.000 6 0.000 0.067 2505 2242 3254

1986 -0.85 -146.0 175.7 -7.9 225 1990 0.00 2.25 0.00 0.000 4 0.000 0.081 2495 3604 3254

2168 -0.85 -146.0 190.8 -7.9 233 2172 0.00 2.20 0.00 0.000 6 0.000 0.054 2495 2215 3254

2501 -0.85 -146.0 216.5 -7.9 249 2502 0.00 0.00 0.00 0.000 6 0.000 0.000 2495 2215 3254

2811 -0.85 -146.0 238.6 -7.2 264 2812 0.00 0.00 0.00 0.000 6 0.000 0.000 2494 2215 3254

3119 -0.85 -146.0 263.5 -8.5 279 3123 0.00 2.25 0.00 0.000 4 0.000 0.067 2495 819 3253

3256 -0.85 -146.0 275.8 -8.9 285 3260 0.00 2.35 0.00 0.000 6 0.000 0.070 2485 2232 3254

3583 -0.85 -146.0 304.9 -8.7 301 3587 0.00 2.25 0.00 0.000 4 0.000 0.078 2475 3598 3253

3698 -0.85 -146.0 315.7 -9.8 306 3702 0.00 2.17 0.00 0.000 6 0.000 0.054 2475 2224 3254

4033 -0.85 -146.0 346.6 -9.5 322 4034 0.00 0.00 0.00 0.000 6 0.000 0.000 2474 2224 3253

4342 -0.85 -146.0 372.3 -8.1 337 4346 0.00 2.28 0.00 0.000 4 0.000 0.067 2474 810 3253

4479 -0.77 -146.0 384.0 -7.9 343 4484 0.17 2.38 0.00 0.000 6 0.135 0.066 2513 2247 3253

4829 -0.89 -146.0 406.7 -6.7 358 4831 0.10 0.00 0.00 0.000 6 0.093 0.000 2471 2247 3253

5151 -0.89 -146.0 432.5 -7.8 366 5152 0.00 0.00 0.00 0.000 6 0.000 0.000 2471 2247 3253

5475 -0.89 -146.0 456.0 -7.3 374 5476 0.00 0.00 0.00 0.000 6 0.000 0.000 2471 2246 3253

5801 -0.89 -146.0 478.8 -6.9 382 5805 0.00 2.35 0.00 0.000 4 0.000 0.064 2471 811 3253

5874 -0.83 -146.0 484.4 -7.4 383 5879 0.15 2.35 0.00 0.000 6 0.134 0.063 2502 2241 3253

6212 -0.95 -146.0 504.7 -5.9 392 6217 0.12 2.25 0.00 0.000 4 0.087 0.077 2441 3607 3253

6274 -0.86 -146.0 509.2 -7.3 393 6279 0.20 2.20 0.00 0.000 6 0.145 0.051 2495 2213 3253

6623 -1.19 -146.0 523.5 -2.1 402 6627 0.20 2.22 0.00 0.000 4 0.071 0.061 2408 820 3254

6635 -1.64 -146.0 523.5 -0.1 402 6640 0.25 2.33 0.00 0.000 6 0.064 0.061 2302 2242 3254

6783 end dive: NO_VERTICAL_VELOCITY

state 6783 begin apogee

6792 -0.31 0.0 523.6 0.0 406 6923 0.95 0.00 128.10 1.188 6 0.097 0.000 2619 1737 2650

6924 end apogee: CONTROL_FINISHED_OK

state 6924 begin climb

6927 0.99 146.0 523.3 0.0 409 7070 0.85 2.67 133.35 1.106 4 0.088 0.066 2905 327 2054

7248 0.79 146.0 494.8 10.5 416 7254 0.20 2.45 0.00 0.000 6 0.138 0.056 2852 1744 2052

7597 0.79 146.0 467.7 7.7 425 7600 0.00 2.33 0.00 0.000 4 0.000 0.069 2852 3167 2049

7637 0.64 146.0 464.1 9.2 425 7644 0.15 2.30 0.00 0.000 6 0.137 0.051 2818 1732 2048

7970 0.77 155.7 441.4 6.7 434 7985 0.10 2.38 8.27 0.964 4 0.081 0.067 2866 3151 2015

7997 0.70 155.7 439.0 8.7 434 8002 0.17 2.25 0.00 0.000 6 0.137 0.051 2826 1733 2015

8335 0.85 195.0 418.5 5.8 443 8374 0.12 0.00 35.58 1.098 6 0.077 0.000 2883 1733 1855

8680 0.77 195.0 389.4 8.6 454 8685 0.15 2.42 0.00 0.000 4 0.122 0.066 2839 3164 1852

8731 0.77 195.0 385.5 7.8 456 8735 0.00 2.30 0.00 0.000 6 0.000 0.051 2847 1728 1851

9053 0.92 240.2 366.4 5.6 472 9100 0.12 2.47 40.15 1.075 4 0.078 0.066 2904 3158 1670

9107 0.81 240.2 362.3 7.8 474 9111 0.22 2.33 0.00 0.000 6 0.133 0.050 2850 1728 1668

9424 0.98 259.6 342.4 6.4 489 9444 0.15 0.00 17.45 1.018 6 0.071 0.000 2919 1727 1592

9752 0.88 259.6 309.6 10.0 505 9757 0.17 2.38 0.00 0.000 4 0.130 0.066 2868 3161 1589

9775 0.88 259.6 307.7 8.6 506 9779 0.00 2.25 0.00 0.000 6 0.000 0.052 2874 1738 1588

10102 1.01 280.7 285.7 6.3 522 10125 0.10 0.00 19.83 1.017 6 0.087 0.000 2922 1738 1505

10431 0.93 280.7 254.6 9.5 538 10436 0.15 2.38 0.00 0.000 4 0.132 0.069 2878 3165 1503

10460 0.93 280.7 252.0 9.1 539 10464 0.00 2.28 0.00 0.000 6 0.000 0.054 2884 1732 1502

10781 1.04 295.9 229.8 6.5 555 10803 0.00 2.38 14.10 0.980 4 0.000 0.069 2884 3159 1443

10810 1.14 307.4 227.8 6.7 556 10828 0.12 2.28 12.27 0.940 6 0.081 0.053 2948 1734 1396

11138 0.99 307.4 193.1 11.3 572 11142 0.20 2.33 0.00 0.000 4 0.137 0.069 2894 323 1394

11172 1.10 307.4 189.8 8.0 573 11179 0.10 2.33 0.00 0.000 6 0.083 0.055 2943 1755 1393

11489 1.00 307.4 156.4 10.8 589 11494 0.17 2.28 0.00 0.000 4 0.136 0.071 2892 3159 1392

11512 0.95 307.4 154.0 9.9 590 11516 0.00 2.28 0.00 0.000 6 0.000 0.055 2899 1736 1392

11846 1.04 307.4 126.7 8.5 606 11847 0.00 0.00 0.00 0.000 6 0.000 0.000 2899 1736 1390

12156 1.16 307.4 103.3 7.4 621 12157 0.12 0.00 0.00 0.000 6 0.079 0.000 2956 1736 1390

12489 1.09 307.4 71.2 8.8 675 12496 0.15 2.40 0.00 0.000 4 0.133 0.072 2912 3155 1389

12553 1.09 307.4 65.8 8.0 686 12559 0.00 2.30 0.00 0.000 6 0.000 0.055 2919 1733 1389

12899 1.19 307.4 41.6 7.4 747 12905 0.00 0.00 0.00 0.000 6 0.000 0.000 2919 1733 1388

13244 1.29 307.6 16.3 7.0 808 13250 0.15 0.00 0.00 0.000 6 0.077 0.000 2980 1733 1388

13381 end climb: SURFACE_DEPTH_REACHED

state 13381 begin surface coast

13427 end surface coast: CONTROL_FINISHED_OK

state 13427 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	523	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	26	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	500	CALL_NDIVES	1	R_STBD_OVSHOOT	21	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	-126385.23	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	60	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	0	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	2	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	081954,6626.398,-5953.046,0,3077.7,0,-37.3	TGT_NAME	TARGET_W_IN
_CALLS	3	TGT_LATLONG	6642.000,-6043.000
_XMS_NAKs	0	TGT_RADIUS	15000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	5.05	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-7.8	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	081954,6626.398,-5953.046,0,3077.7,0,-37.3	MHEAD_RNG_PITCHd_Wd	345.6,46626,-13.0,-7.021
SPEED_LIMITS	0.122,0.233	D_GRID	587

FREEZE	1.86,-1.782,-1.777	XPDR_PINGS	66
FINISH	1.9,1.026088	_24V_AH	21.6,84.737
RAFOS_CLK	627	_10V_AH	10.4,38.963
RAFOS	0,1230465842,12.083333,12.067223,83,65,63,57,56,53,659,213,199,143,181,119	DATA_FILE_SIZE	28451,840
RAFOS_FIX	6626.398438,-5953.045898,281208,080854,3,78,0.28	CAP_FILE_SIZE	108351,0
IRIDIUM_FIX	6614.97,-5735.48,170398,050547	CFSIZE	260165632,217317376
TT8_MAMPS	0.026845	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
HUMID	1845	SOUNDSPEED	1444.3
INTERNAL_PRESSURE	9.8246	GPS	281208,081954,6626.398,-5953.046,0,3077.7,0,-37.3
TCM_TEMP	14.90

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	6	154	22.73	SBE_CT	589	24	305.83
Roll_motor	105	80	183.70	SBE_O2	0	0	0.00
VBD_pump_during_apogee	409	1188	10498.57	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	16	420	149.69
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	0	50	0.00
TT8	1569	19	325.16
LPSleep	9723	2	233.59
TT8_Active	455	19	94.46
TT8_Sampling	1619	39	672.36
TT8_CF8	243	45	116.26
TT8_Kalman	0	0	0.00
Analog_circuits	1332	12	166.30
GPS_charging	0	0	0.00
Compass	1608	8	133.80
RAFOS	1800	1	28.08
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	24	0.00	0.00	-5.40	0.000	2	0.000	0.000	2700	324	2496
28	-0.99	-146.0	5.2	-0.0	1	64	0.62	5.47	-27.12	0.000	4	0.059	0.074	2427	3603	3249
263	-0.68	-146.0	35.0	-13.7	42	270	0.35	2.20	0.00	0.000	6	0.154	0.053	2533	2212	3253
610	-0.73	-146.0	64.7	-8.3	103	616	0.00	2.22	0.00	0.000	4	0.000	0.065	2533	818	3254
735	-0.73	-146.0	75.3	-8.3	125	742	0.00	2.33	0.00	0.000	6	0.000	0.065	2526	2234	3254
1094	-0.77	-146.0	103.1	-7.4	183	1098	0.00	2.25	0.00	0.000	4	0.000	0.078	2515	3601	3254
1231	-0.85	-146.0	113.6	-7.8	189	1234	0.00	2.17	0.00	0.000	6	0.000	0.052	2515	2223	3254
1564	-0.85	-146.0	140.6	-8.0	205	1567	0.00	2.25	0.00	0.000	4	0.000	0.066	2515	818	3254
1665	-0.85	-146.0	149.3	-8.4	209	1669	0.00	2.35	0.00	0.000	6	0.000	0.067	2505	2242	3254
1986	-0.85	-146.0	175.7	-7.9	225	1990	0.00	2.25	0.00	0.000	4	0.000	0.081	2495	3604	3254
2168	-0.85	-146.0	190.8	-7.9	233	2172	0.00	2.20	0.00	0.000	6	0.000	0.054	2495	2215	3254
2501	-0.85	-146.0	216.5	-7.9	249	2502	0.00	0.00	0.00	0.000	6	0.000	0.000	2495	2215	3254
2811	-0.85	-146.0	238.6	-7.2	264	2812	0.00	0.00	0.00	0.000	6	0.000	0.000	2494	2215	3254
3119	-0.85	-146.0	263.5	-8.5	279	3123	0.00	2.25	0.00	0.000	4	0.000	0.067	2495	819	3253
3256	-0.85	-146.0	275.8	-8.9	285	3260	0.00	2.35	0.00	0.000	6	0.000	0.070	2485	2232	3254
3583	-0.85	-146.0	304.9	-8.7	301	3587	0.00	2.25	0.00	0.000	4	0.000	0.078	2475	3598	3253
3698	-0.85	-146.0	315.7	-9.8	306	3702	0.00	2.17	0.00	0.000	6	0.000	0.054	2475	2224	3254
4033	-0.85	-146.0	346.6	-9.5	322	4034	0.00	0.00	0.00	0.000	6	0.000	0.000	2474	2224	3253
4342	-0.85	-146.0	372.3	-8.1	337	4346	0.00	2.28	0.00	0.000	4	0.000	0.067	2474	810	3253
4479	-0.77	-146.0	384.0	-7.9	343	4484	0.17	2.38	0.00	0.000	6	0.135	0.066	2513	2247	3253
4829	-0.89	-146.0	406.7	-6.7	358	4831	0.10	0.00	0.00	0.000	6	0.093	0.000	2471	2247	3253
5151	-0.89	-146.0	432.5	-7.8	366	5152	0.00	0.00	0.00	0.000	6	0.000	0.000	2471	2247	3253
5475	-0.89	-146.0	456.0	-7.3	374	5476	0.00	0.00	0.00	0.000	6	0.000	0.000	2471	2246	3253
5801	-0.89	-146.0	478.8	-6.9	382	5805	0.00	2.35	0.00	0.000	4	0.000	0.064	2471	811	3253
5874	-0.83	-146.0	484.4	-7.4	383	5879	0.15	2.35	0.00	0.000	6	0.134	0.063	2502	2241	3253
6212	-0.95	-146.0	504.7	-5.9	392	6217	0.12	2.25	0.00	0.000	4	0.087	0.077	2441	3607	3253
6274	-0.86	-146.0	509.2	-7.3	393	6279	0.20	2.20	0.00	0.000	6	0.145	0.051	2495	2213	3253
6623	-1.19	-146.0	523.5	-2.1	402	6627	0.20	2.22	0.00	0.000	4	0.071	0.061	2408	820	3254
6635	-1.64	-146.0	523.5	-0.1	402	6640	0.25	2.33	0.00	0.000	6	0.064	0.061	2302	2242	3254
6783	end dive: NO_VERTICAL_VELOCITY
state	6783	begin apogee
6792	-0.31	0.0	523.6	0.0	406	6923	0.95	0.00	128.10	1.188	6	0.097	0.000	2619	1737	2650
6924	end apogee: CONTROL_FINISHED_OK
state	6924	begin climb
6927	0.99	146.0	523.3	0.0	409	7070	0.85	2.67	133.35	1.106	4	0.088	0.066	2905	327	2054
7248	0.79	146.0	494.8	10.5	416	7254	0.20	2.45	0.00	0.000	6	0.138	0.056	2852	1744	2052
7597	0.79	146.0	467.7	7.7	425	7600	0.00	2.33	0.00	0.000	4	0.000	0.069	2852	3167	2049
7637	0.64	146.0	464.1	9.2	425	7644	0.15	2.30	0.00	0.000	6	0.137	0.051	2818	1732	2048
7970	0.77	155.7	441.4	6.7	434	7985	0.10	2.38	8.27	0.964	4	0.081	0.067	2866	3151	2015
7997	0.70	155.7	439.0	8.7	434	8002	0.17	2.25	0.00	0.000	6	0.137	0.051	2826	1733	2015
8335	0.85	195.0	418.5	5.8	443	8374	0.12	0.00	35.58	1.098	6	0.077	0.000	2883	1733	1855
8680	0.77	195.0	389.4	8.6	454	8685	0.15	2.42	0.00	0.000	4	0.122	0.066	2839	3164	1852
8731	0.77	195.0	385.5	7.8	456	8735	0.00	2.30	0.00	0.000	6	0.000	0.051	2847	1728	1851
9053	0.92	240.2	366.4	5.6	472	9100	0.12	2.47	40.15	1.075	4	0.078	0.066	2904	3158	1670
9107	0.81	240.2	362.3	7.8	474	9111	0.22	2.33	0.00	0.000	6	0.133	0.050	2850	1728	1668
9424	0.98	259.6	342.4	6.4	489	9444	0.15	0.00	17.45	1.018	6	0.071	0.000	2919	1727	1592
9752	0.88	259.6	309.6	10.0	505	9757	0.17	2.38	0.00	0.000	4	0.130	0.066	2868	3161	1589
9775	0.88	259.6	307.7	8.6	506	9779	0.00	2.25	0.00	0.000	6	0.000	0.052	2874	1738	1588
10102	1.01	280.7	285.7	6.3	522	10125	0.10	0.00	19.83	1.017	6	0.087	0.000	2922	1738	1505
10431	0.93	280.7	254.6	9.5	538	10436	0.15	2.38	0.00	0.000	4	0.132	0.069	2878	3165	1503
10460	0.93	280.7	252.0	9.1	539	10464	0.00	2.28	0.00	0.000	6	0.000	0.054	2884	1732	1502
10781	1.04	295.9	229.8	6.5	555	10803	0.00	2.38	14.10	0.980	4	0.000	0.069	2884	3159	1443
10810	1.14	307.4	227.8	6.7	556	10828	0.12	2.28	12.27	0.940	6	0.081	0.053	2948	1734	1396
11138	0.99	307.4	193.1	11.3	572	11142	0.20	2.33	0.00	0.000	4	0.137	0.069	2894	323	1394
11172	1.10	307.4	189.8	8.0	573	11179	0.10	2.33	0.00	0.000	6	0.083	0.055	2943	1755	1393
11489	1.00	307.4	156.4	10.8	589	11494	0.17	2.28	0.00	0.000	4	0.136	0.071	2892	3159	1392
11512	0.95	307.4	154.0	9.9	590	11516	0.00	2.28	0.00	0.000	6	0.000	0.055	2899	1736	1392
11846	1.04	307.4	126.7	8.5	606	11847	0.00	0.00	0.00	0.000	6	0.000	0.000	2899	1736	1390
12156	1.16	307.4	103.3	7.4	621	12157	0.12	0.00	0.00	0.000	6	0.079	0.000	2956	1736	1390
12489	1.09	307.4	71.2	8.8	675	12496	0.15	2.40	0.00	0.000	4	0.133	0.072	2912	3155	1389
12553	1.09	307.4	65.8	8.0	686	12559	0.00	2.30	0.00	0.000	6	0.000	0.055	2919	1733	1389
12899	1.19	307.4	41.6	7.4	747	12905	0.00	0.00	0.00	0.000	6	0.000	0.000	2919	1733	1388
13244	1.29	307.6	16.3	7.0	808	13250	0.15	0.00	0.00	0.000	6	0.077	0.000	2980	1733	1388
13381	end climb: SURFACE_DEPTH_REACHED
state	13381	begin surface coast
13427	end surface coast: CONTROL_FINISHED_OK
state	13427	begin surface