Glider dive log

DavisStrait Sep08 * SG108 * Dive index * Mission links * Dive 346 * 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 346 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 22 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 -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 22 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 346 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 122224,6619.368,-6023.639,0,2081.0,0,-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 0.232,-0.022

_SM_DEPTHo 2.43 KALMAN_X 270031.9,3946.9,404.6,-274294.0,-1756.8

_SM_ANGLEo -7.9 KALMAN_Y -223495.7,-10267.3,-1980.9,225131.1,30492.4

GPS2 122224,6619.368,-6023.639,0,2081.0,0,-37.7 MHEAD_RNG_PITCHd_Wd 133.1,175440,-13.0,-7.021

SPEED_LIMITS 0.122,0.233 D_GRID 441

Post-dive calculations and measurements:

FREEZE 6.70,-1.750,-1.784 TCM_TEMP 14.80

FINISH1 6.7,1.026138,74 XPDR_PINGS 68

FINISH2 5.5 _24V_AH 22.0,59.894

RAFOS_CLK 536 _10V_AH 10.5,27.348

RAFOS 0,1227369841,16.083334,16.066944,74,59,55,52,51,49,747,206,160,219,133,192 DATA_FILE_SIZE 25231,801

RAFOS_FIX 6619.368164,-6023.639160,221108,121224,2,81,0.28 CAP_FILE_SIZE 100739,0

IRIDIUM_FIX 6548.42,-6029.22,160298,060607 CFSIZE 260165632,228220928

TT8_MAMPS 0.026845 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,0

HUMID 1804 SOUNDSPEED 1442.6

INTERNAL_PRESSURE 9.88319 GPS 221108,122224,6619.368,-6023.639,0,2081.0,0,-37.7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 6 159 23.95 SBE_CT 561 24 296.52

Roll_motor 119 92 241.47 SBE_O2 0 0 0.00

VBD_pump_during_apogee 367 1176 9513.93 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 17 420 157.08

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 0 50 0.00

TT8 1439 19 301.11

LPSleep 7787 2 188.90

TT8_Active 464 19 97.09

TT8_Sampling 1522 39 638.37

TT8_CF8 179 45 86.31

TT8_Kalman 33 81 28.70

Analog_circuits 1297 12 163.49

GPS_charging 0 0 0.00

Compass 1509 8 126.76

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 12 begin dive

16 -0.99 -146.0 0.0 0.0 0 67 0.00 0.00 -49.30 0.000 6 0.000 0.000 2690 3157 3247

71 -0.99 -146.0 2.9 -3.2 9 78 0.65 3.85 0.00 0.000 4 0.091 0.064 2459 808 3249

332 -0.73 -146.0 32.5 -11.7 55 339 0.28 2.38 0.00 0.000 6 0.160 0.072 2524 2239 3252

677 -0.73 -146.0 61.5 -8.3 116 683 0.00 2.35 0.00 0.000 4 0.000 0.070 2527 804 3252

689 -0.73 -146.0 62.7 -8.3 118 695 0.00 2.38 0.00 0.000 6 0.000 0.070 2519 2245 3252

1034 -0.73 -146.0 91.9 -8.6 179 1039 0.00 0.00 0.00 0.000 6 0.000 0.000 2519 2245 3252

1358 -0.73 -146.0 117.2 -6.9 207 1359 0.00 0.00 0.00 0.000 6 0.000 0.000 2518 2244 3252

1667 -0.79 -146.0 145.5 -8.2 222 1668 0.00 0.00 0.00 0.000 6 0.000 0.000 2518 2245 3252

1978 -0.86 -146.0 172.3 -8.9 237 1983 0.10 2.25 0.00 0.000 4 0.094 0.085 2463 3608 3251

1989 -0.86 -146.0 173.6 -8.8 237 1994 0.12 2.22 0.00 0.000 6 0.157 0.058 2495 2209 3251

2310 -0.86 -146.0 201.6 -8.2 253 2313 0.00 2.25 0.00 0.000 4 0.000 0.071 2501 811 3252

2382 -0.86 -146.0 208.0 -8.9 256 2387 0.00 2.35 0.00 0.000 6 0.000 0.071 2492 2243 3251

2709 -0.86 -146.0 234.2 -7.7 272 2713 0.00 2.22 0.00 0.000 4 0.000 0.085 2482 3596 3252

2720 -0.86 -146.0 235.0 -7.4 272 2724 0.00 2.17 0.00 0.000 6 0.000 0.058 2482 2227 3251

3041 -0.86 -146.0 259.5 -7.6 288 3045 0.00 2.28 0.00 0.000 4 0.000 0.072 2482 817 3251

3080 -0.78 -146.0 262.7 -8.4 289 3087 0.15 2.35 0.00 0.000 6 0.143 0.071 2513 2238 3251

3397 -0.88 -146.0 281.6 -5.8 305 3401 0.10 2.25 0.00 0.000 4 0.097 0.084 2462 3604 3251

3408 -0.93 -146.0 282.3 -5.6 305 3414 0.00 2.20 0.00 0.000 6 0.000 0.058 2462 2218 3251

3724 -0.84 -146.0 308.6 -9.0 321 3728 0.15 2.33 0.00 0.000 4 0.150 0.083 2496 3602 3251

3824 -0.92 -146.0 316.8 -7.9 325 3830 0.00 2.20 0.00 0.000 6 0.000 0.058 2496 2218 3251

4141 -0.97 -146.0 339.9 -6.6 341 4145 0.10 2.25 0.00 0.000 4 0.097 0.070 2454 817 3251

4151 -0.97 -146.0 340.6 -6.2 341 4156 0.10 2.35 0.00 0.000 6 0.153 0.071 2468 2237 3251

4469 -0.97 -146.0 361.7 -6.9 356 4472 0.00 2.33 0.00 0.000 4 0.000 0.071 2468 820 3251

4525 -0.89 -146.0 366.0 -7.5 358 4529 0.12 2.35 0.00 0.000 6 0.146 0.071 2493 2240 3251

4841 -0.96 -146.0 386.5 -6.6 373 4845 0.00 2.35 0.00 0.000 4 0.000 0.071 2494 810 3251

4853 -1.02 -146.0 387.4 -6.6 373 4858 0.10 2.38 0.00 0.000 6 0.090 0.071 2445 2246 3251

5166 -0.91 -146.0 413.1 -8.1 384 5170 0.15 2.25 0.00 0.000 4 0.153 0.083 2477 3610 3251

5304 -0.97 -146.0 422.6 -7.0 387 5308 0.00 2.20 0.00 0.000 6 0.000 0.058 2477 2225 3251

5634 -1.15 -146.0 440.0 -4.5 395 5639 0.15 2.28 0.00 0.000 4 0.079 0.070 2414 814 3252

5773 end dive: NO_VERTICAL_VELOCITY

state 5773 begin apogee

5782 -0.31 0.0 440.1 0.0 398 5909 0.57 0.00 124.35 1.177 6 0.091 0.000 2619 1751 2651

5910 end apogee: CONTROL_FINISHED_OK

state 5910 begin climb

5913 0.99 146.0 440.0 0.0 401 6050 0.85 2.62 129.95 1.090 4 0.090 0.075 2896 3158 2054

6115 0.67 146.0 421.3 11.4 405 6120 0.32 2.50 0.00 0.000 6 0.138 0.058 2820 1737 2049

6446 0.81 184.3 401.3 5.8 413 6486 0.12 0.00 34.03 1.070 6 0.076 0.000 2872 1737 1898

6795 0.81 184.3 372.3 8.3 429 6799 0.00 2.42 0.00 0.000 4 0.000 0.075 2872 3161 1893

6823 0.68 184.3 369.8 9.0 430 6828 0.20 2.35 0.00 0.000 6 0.130 0.058 2825 1732 1892

7144 0.84 191.9 348.1 6.8 446 7159 0.12 2.40 7.05 0.917 4 0.077 0.072 2891 319 1868

7188 0.78 191.9 344.4 9.5 448 7193 0.15 2.38 0.00 0.000 6 0.134 0.061 2848 1752 1867

7515 0.87 191.9 319.0 8.4 464 7518 0.00 2.30 0.00 0.000 4 0.000 0.076 2848 3160 1867

7605 0.87 191.9 310.3 9.9 468 7609 0.00 2.30 0.00 0.000 6 0.000 0.058 2856 1727 1867

7939 0.93 191.9 281.9 7.9 484 7944 0.10 2.38 0.00 0.000 4 0.088 0.074 2902 3162 1866

8001 0.70 191.9 275.4 11.3 487 8006 0.28 2.30 0.00 0.000 6 0.133 0.059 2831 1729 1866

8328 1.11 217.8 253.8 6.2 503 8359 0.25 2.42 23.27 1.046 4 0.075 0.074 2932 3152 1762

8516 0.80 217.8 234.4 12.3 511 8521 0.30 2.30 0.00 0.000 6 0.138 0.060 2854 1734 1757

8833 0.97 240.6 213.7 6.3 526 8856 0.12 0.00 20.75 1.018 6 0.079 0.000 2909 1734 1669

9161 0.90 240.6 184.5 8.8 542 9166 0.15 2.33 0.00 0.000 4 0.132 0.074 2875 331 1665

9206 1.06 260.1 181.4 6.4 544 9231 0.12 2.35 18.10 0.991 6 0.081 0.064 2930 1754 1590

9555 0.97 260.1 148.0 10.4 561 9560 0.15 2.33 0.00 0.000 4 0.139 0.077 2887 3165 1585

9594 0.97 260.1 143.8 9.5 563 9598 0.00 2.33 0.00 0.000 6 0.000 0.061 2895 1730 1584

9928 1.03 260.1 115.8 9.6 579 9931 0.00 2.30 0.00 0.000 4 0.000 0.076 2905 331 1583

9967 1.09 260.1 111.6 10.3 580 9973 0.00 2.33 0.00 0.000 6 0.000 0.064 2905 1744 1583

10298 1.09 260.1 85.5 8.4 620 10304 0.00 2.30 0.00 0.000 4 0.000 0.078 2905 3156 1582

10367 1.03 260.1 80.5 7.1 632 10374 0.00 2.30 0.00 0.000 6 0.000 0.062 2915 1730 1581

10712 1.03 260.1 55.0 7.3 693 10718 0.00 2.30 0.00 0.000 4 0.000 0.075 2926 330 1581

10775 1.03 260.1 49.1 9.6 704 10781 0.00 2.33 0.00 0.000 6 0.000 0.065 2925 1742 1581

11120 0.98 271.3 20.3 6.7 765 11138 0.12 2.40 10.05 0.888 4 0.135 0.076 2897 332 1543

11163 1.06 271.3 17.1 7.5 772 11169 0.00 2.33 0.00 0.000 6 0.000 0.064 2897 1745 1543

11292 end climb: FINISH_DEPTH_REACHED

state 11292 begin subsurface finish

11301 0.09 74.2 6.7 -8.2 795 11337 0.60 2.35 -26.55 0.000 4 0.111 0.092 2686 3149 2351

11338 end subsurface finish: CONTROL_FINISHED_OK

state 11338 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	346	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	22	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	-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	122224,6619.368,-6023.639,0,2081.0,0,-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	0.232,-0.022
_SM_DEPTHo	2.43	KALMAN_X	270031.9,3946.9,404.6,-274294.0,-1756.8
_SM_ANGLEo	-7.9	KALMAN_Y	-223495.7,-10267.3,-1980.9,225131.1,30492.4
GPS2	122224,6619.368,-6023.639,0,2081.0,0,-37.7	MHEAD_RNG_PITCHd_Wd	133.1,175440,-13.0,-7.021
SPEED_LIMITS	0.122,0.233	D_GRID	441

FREEZE	6.70,-1.750,-1.784	TCM_TEMP	14.80
FINISH1	6.7,1.026138,74	XPDR_PINGS	68
FINISH2	5.5	_24V_AH	22.0,59.894
RAFOS_CLK	536	_10V_AH	10.5,27.348
RAFOS	0,1227369841,16.083334,16.066944,74,59,55,52,51,49,747,206,160,219,133,192	DATA_FILE_SIZE	25231,801
RAFOS_FIX	6619.368164,-6023.639160,221108,121224,2,81,0.28	CAP_FILE_SIZE	100739,0
IRIDIUM_FIX	6548.42,-6029.22,160298,060607	CFSIZE	260165632,228220928
TT8_MAMPS	0.026845	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
HUMID	1804	SOUNDSPEED	1442.6
INTERNAL_PRESSURE	9.88319	GPS	221108,122224,6619.368,-6023.639,0,2081.0,0,-37.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	6	159	23.95	SBE_CT	561	24	296.52
Roll_motor	119	92	241.47	SBE_O2	0	0	0.00
VBD_pump_during_apogee	367	1176	9513.93	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	17	420	157.08
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	0	50	0.00
TT8	1439	19	301.11
LPSleep	7787	2	188.90
TT8_Active	464	19	97.09
TT8_Sampling	1522	39	638.37
TT8_CF8	179	45	86.31
TT8_Kalman	33	81	28.70
Analog_circuits	1297	12	163.49
GPS_charging	0	0	0.00
Compass	1509	8	126.76
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	12	begin dive
16	-0.99	-146.0	0.0	0.0	0	67	0.00	0.00	-49.30	0.000	6	0.000	0.000	2690	3157	3247
71	-0.99	-146.0	2.9	-3.2	9	78	0.65	3.85	0.00	0.000	4	0.091	0.064	2459	808	3249
332	-0.73	-146.0	32.5	-11.7	55	339	0.28	2.38	0.00	0.000	6	0.160	0.072	2524	2239	3252
677	-0.73	-146.0	61.5	-8.3	116	683	0.00	2.35	0.00	0.000	4	0.000	0.070	2527	804	3252
689	-0.73	-146.0	62.7	-8.3	118	695	0.00	2.38	0.00	0.000	6	0.000	0.070	2519	2245	3252
1034	-0.73	-146.0	91.9	-8.6	179	1039	0.00	0.00	0.00	0.000	6	0.000	0.000	2519	2245	3252
1358	-0.73	-146.0	117.2	-6.9	207	1359	0.00	0.00	0.00	0.000	6	0.000	0.000	2518	2244	3252
1667	-0.79	-146.0	145.5	-8.2	222	1668	0.00	0.00	0.00	0.000	6	0.000	0.000	2518	2245	3252
1978	-0.86	-146.0	172.3	-8.9	237	1983	0.10	2.25	0.00	0.000	4	0.094	0.085	2463	3608	3251
1989	-0.86	-146.0	173.6	-8.8	237	1994	0.12	2.22	0.00	0.000	6	0.157	0.058	2495	2209	3251
2310	-0.86	-146.0	201.6	-8.2	253	2313	0.00	2.25	0.00	0.000	4	0.000	0.071	2501	811	3252
2382	-0.86	-146.0	208.0	-8.9	256	2387	0.00	2.35	0.00	0.000	6	0.000	0.071	2492	2243	3251
2709	-0.86	-146.0	234.2	-7.7	272	2713	0.00	2.22	0.00	0.000	4	0.000	0.085	2482	3596	3252
2720	-0.86	-146.0	235.0	-7.4	272	2724	0.00	2.17	0.00	0.000	6	0.000	0.058	2482	2227	3251
3041	-0.86	-146.0	259.5	-7.6	288	3045	0.00	2.28	0.00	0.000	4	0.000	0.072	2482	817	3251
3080	-0.78	-146.0	262.7	-8.4	289	3087	0.15	2.35	0.00	0.000	6	0.143	0.071	2513	2238	3251
3397	-0.88	-146.0	281.6	-5.8	305	3401	0.10	2.25	0.00	0.000	4	0.097	0.084	2462	3604	3251
3408	-0.93	-146.0	282.3	-5.6	305	3414	0.00	2.20	0.00	0.000	6	0.000	0.058	2462	2218	3251
3724	-0.84	-146.0	308.6	-9.0	321	3728	0.15	2.33	0.00	0.000	4	0.150	0.083	2496	3602	3251
3824	-0.92	-146.0	316.8	-7.9	325	3830	0.00	2.20	0.00	0.000	6	0.000	0.058	2496	2218	3251
4141	-0.97	-146.0	339.9	-6.6	341	4145	0.10	2.25	0.00	0.000	4	0.097	0.070	2454	817	3251
4151	-0.97	-146.0	340.6	-6.2	341	4156	0.10	2.35	0.00	0.000	6	0.153	0.071	2468	2237	3251
4469	-0.97	-146.0	361.7	-6.9	356	4472	0.00	2.33	0.00	0.000	4	0.000	0.071	2468	820	3251
4525	-0.89	-146.0	366.0	-7.5	358	4529	0.12	2.35	0.00	0.000	6	0.146	0.071	2493	2240	3251
4841	-0.96	-146.0	386.5	-6.6	373	4845	0.00	2.35	0.00	0.000	4	0.000	0.071	2494	810	3251
4853	-1.02	-146.0	387.4	-6.6	373	4858	0.10	2.38	0.00	0.000	6	0.090	0.071	2445	2246	3251
5166	-0.91	-146.0	413.1	-8.1	384	5170	0.15	2.25	0.00	0.000	4	0.153	0.083	2477	3610	3251
5304	-0.97	-146.0	422.6	-7.0	387	5308	0.00	2.20	0.00	0.000	6	0.000	0.058	2477	2225	3251
5634	-1.15	-146.0	440.0	-4.5	395	5639	0.15	2.28	0.00	0.000	4	0.079	0.070	2414	814	3252
5773	end dive: NO_VERTICAL_VELOCITY
state	5773	begin apogee
5782	-0.31	0.0	440.1	0.0	398	5909	0.57	0.00	124.35	1.177	6	0.091	0.000	2619	1751	2651
5910	end apogee: CONTROL_FINISHED_OK
state	5910	begin climb
5913	0.99	146.0	440.0	0.0	401	6050	0.85	2.62	129.95	1.090	4	0.090	0.075	2896	3158	2054
6115	0.67	146.0	421.3	11.4	405	6120	0.32	2.50	0.00	0.000	6	0.138	0.058	2820	1737	2049
6446	0.81	184.3	401.3	5.8	413	6486	0.12	0.00	34.03	1.070	6	0.076	0.000	2872	1737	1898
6795	0.81	184.3	372.3	8.3	429	6799	0.00	2.42	0.00	0.000	4	0.000	0.075	2872	3161	1893
6823	0.68	184.3	369.8	9.0	430	6828	0.20	2.35	0.00	0.000	6	0.130	0.058	2825	1732	1892
7144	0.84	191.9	348.1	6.8	446	7159	0.12	2.40	7.05	0.917	4	0.077	0.072	2891	319	1868
7188	0.78	191.9	344.4	9.5	448	7193	0.15	2.38	0.00	0.000	6	0.134	0.061	2848	1752	1867
7515	0.87	191.9	319.0	8.4	464	7518	0.00	2.30	0.00	0.000	4	0.000	0.076	2848	3160	1867
7605	0.87	191.9	310.3	9.9	468	7609	0.00	2.30	0.00	0.000	6	0.000	0.058	2856	1727	1867
7939	0.93	191.9	281.9	7.9	484	7944	0.10	2.38	0.00	0.000	4	0.088	0.074	2902	3162	1866
8001	0.70	191.9	275.4	11.3	487	8006	0.28	2.30	0.00	0.000	6	0.133	0.059	2831	1729	1866
8328	1.11	217.8	253.8	6.2	503	8359	0.25	2.42	23.27	1.046	4	0.075	0.074	2932	3152	1762
8516	0.80	217.8	234.4	12.3	511	8521	0.30	2.30	0.00	0.000	6	0.138	0.060	2854	1734	1757
8833	0.97	240.6	213.7	6.3	526	8856	0.12	0.00	20.75	1.018	6	0.079	0.000	2909	1734	1669
9161	0.90	240.6	184.5	8.8	542	9166	0.15	2.33	0.00	0.000	4	0.132	0.074	2875	331	1665
9206	1.06	260.1	181.4	6.4	544	9231	0.12	2.35	18.10	0.991	6	0.081	0.064	2930	1754	1590
9555	0.97	260.1	148.0	10.4	561	9560	0.15	2.33	0.00	0.000	4	0.139	0.077	2887	3165	1585
9594	0.97	260.1	143.8	9.5	563	9598	0.00	2.33	0.00	0.000	6	0.000	0.061	2895	1730	1584
9928	1.03	260.1	115.8	9.6	579	9931	0.00	2.30	0.00	0.000	4	0.000	0.076	2905	331	1583
9967	1.09	260.1	111.6	10.3	580	9973	0.00	2.33	0.00	0.000	6	0.000	0.064	2905	1744	1583
10298	1.09	260.1	85.5	8.4	620	10304	0.00	2.30	0.00	0.000	4	0.000	0.078	2905	3156	1582
10367	1.03	260.1	80.5	7.1	632	10374	0.00	2.30	0.00	0.000	6	0.000	0.062	2915	1730	1581
10712	1.03	260.1	55.0	7.3	693	10718	0.00	2.30	0.00	0.000	4	0.000	0.075	2926	330	1581
10775	1.03	260.1	49.1	9.6	704	10781	0.00	2.33	0.00	0.000	6	0.000	0.065	2925	1742	1581
11120	0.98	271.3	20.3	6.7	765	11138	0.12	2.40	10.05	0.888	4	0.135	0.076	2897	332	1543
11163	1.06	271.3	17.1	7.5	772	11169	0.00	2.33	0.00	0.000	6	0.000	0.064	2897	1745	1543
11292	end climb: FINISH_DEPTH_REACHED
state	11292	begin subsurface finish
11301	0.09	74.2	6.7	-8.2	795	11337	0.60	2.35	-26.55	0.000	4	0.111	0.092	2686	3149	2351
11338	end subsurface finish: CONTROL_FINISHED_OK
state	11338	begin surface