Glider dive log

DavisStrait Sep08 * SG108 * Dive index * Mission links * Dive 354 * 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 354 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 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 -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 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 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 354 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 152444,6613.524,-6022.065,29,1.7,36,-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 0.218,0.083

_SM_DEPTHo 2.09 KALMAN_X 216123.2,-30808.9,-33889.4,-270413.8,100975.4

_SM_ANGLEo -34.2 KALMAN_Y -272749.2,-28538.7,-4745.4,230747.1,71318.7

GPS2 154059,6613.136,-6022.036,8,3.3,27,-37.3 MHEAD_RNG_PITCHd_Wd 106.4,180052,-13.0,-7.021

SPEED_LIMITS 0.122,0.233 D_GRID 411

Post-dive calculations and measurements:

FREEZE 6.90,-1.769,-1.781 TCM_TEMP 14.80

FINISH1 6.9,1.026098,76 XPDR_PINGS 92

FINISH2 5.4 _24V_AH 22.1,60.902

RAFOS_CLK 527 _10V_AH 10.5,27.751

RAFOS 0,1227456252,16.083334,16.070000,123,66,63,58,50,48,711,153,179,211,233,77 DATA_FILE_SIZE 28376,851

RAFOS_FIX 12939.953125,381537.750000,231108,161636,2,97,102846.13 CAP_FILE_SIZE 118847,0

IRIDIUM_FIX 6548.42,-6024.58,170298,151529 CFSIZE 260165632,227803136

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

HUMID 1832 SOUNDSPEED 1443.0

INTERNAL_PRESSURE 9.88319 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 15 185 63.79 SBE_CT 596 24 316.25

Roll_motor 110 90 220.07 SBE_O2 0 0 0.00

VBD_pump_during_apogee 345 1165 8910.20 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 45 103 103.71 nil 0 0 0.00

Iridium_during_connect 80 160 283.91 nil 0 0 0.00

Iridium_during_xfer 524 223 2586.67

Transponder_ping 23 420 213.49

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 29 50 15.44

TT8 1533 19 320.71

LPSleep 7995 2 193.92

TT8_Active 473 19 98.97

TT8_Sampling 1587 39 665.57

TT8_CF8 1023 45 493.48

TT8_Kalman 33 81 28.69

Analog_circuits 1325 12 167.04

GPS_charging 0 0 0.00

Compass 1551 8 130.32

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

13 end surface: CONTROL_FINISHED_OK

state 13 begin dive

16 -0.99 -146.0 0.0 0.0 0 113 0.00 0.00 -92.43 0.000 6 0.000 0.000 333 2238 3247

117 -0.99 -146.0 2.5 0.2 17 130 7.57 2.35 0.00 0.000 4 0.186 0.064 2466 814 3250

384 -0.40 -146.0 33.2 -14.2 64 391 0.47 2.38 0.00 0.000 6 0.163 0.072 2591 2234 3253

729 -0.46 -146.0 63.7 -7.9 125 736 0.00 2.35 0.00 0.000 4 0.000 0.071 2592 810 3253

765 -0.51 -146.0 66.7 -8.4 131 771 0.00 2.38 0.00 0.000 6 0.000 0.071 2584 2239 3253

1110 -0.62 -146.0 91.6 -5.9 192 1116 0.15 2.25 0.00 0.000 4 0.076 0.084 2511 3602 3253

1146 -0.56 -146.0 94.6 -7.8 198 1153 0.17 2.20 0.00 0.000 6 0.156 0.058 2562 2223 3253

1491 -0.67 -146.0 113.4 -5.5 226 1495 0.12 2.28 0.00 0.000 4 0.084 0.070 2511 812 3253

1535 -0.54 -146.0 117.1 -8.0 228 1540 0.22 2.38 0.00 0.000 6 0.145 0.071 2565 2245 3253

1858 -0.67 -146.0 138.4 -7.2 244 1863 0.12 2.35 0.00 0.000 4 0.082 0.069 2515 819 3253

1903 -0.56 -146.0 142.7 -9.8 246 1907 0.20 2.35 0.00 0.000 6 0.143 0.072 2561 2235 3253

2226 -0.71 -146.0 164.6 -5.5 262 2228 0.12 0.00 0.00 0.000 6 0.081 0.000 2509 2235 3253

2535 -0.71 -146.0 181.5 -4.9 277 2536 0.00 0.00 0.00 0.000 6 0.000 0.000 2509 2235 3253

2842 -0.71 -146.0 199.3 -6.6 292 2846 0.00 2.25 0.00 0.000 4 0.000 0.086 2499 3601 3252

2869 -0.71 -146.0 201.4 -7.7 293 2874 0.10 2.20 0.00 0.000 6 0.155 0.057 2523 2216 3252

3193 -0.77 -146.0 223.6 -7.2 309 3194 0.00 0.00 0.00 0.000 6 0.000 0.000 2523 2216 3253

3500 -0.83 -146.0 243.2 -6.3 324 3505 0.10 2.33 0.00 0.000 4 0.098 0.083 2473 3600 3253

3573 -0.73 -146.0 249.4 -9.6 327 3577 0.17 2.17 0.00 0.000 6 0.153 0.057 2521 2229 3252

3896 -0.81 -146.0 268.2 -5.0 343 3900 0.00 2.28 0.00 0.000 4 0.000 0.070 2524 814 3252

3913 -0.86 -146.0 269.3 -5.1 343 3920 0.10 2.35 0.00 0.000 6 0.089 0.071 2475 2235 3252

4229 -0.78 -146.0 293.4 -8.3 359 4234 0.15 2.25 0.00 0.000 4 0.152 0.083 2507 3602 3252

4307 -0.85 -146.0 300.1 -8.7 362 4314 0.00 2.17 0.00 0.000 6 0.000 0.057 2508 2229 3253

4623 -0.85 -146.0 326.7 -8.3 378 4627 0.00 2.30 0.00 0.000 4 0.000 0.084 2498 3598 3253

4685 -0.85 -146.0 331.8 -8.0 380 4691 0.00 2.17 0.00 0.000 6 0.000 0.057 2497 2226 3253

5001 -0.85 -146.0 350.0 -4.7 396 5002 0.00 0.00 0.00 0.000 6 0.000 0.000 2498 2225 3252

5310 -0.85 -146.0 364.5 -4.6 411 5312 0.00 0.00 0.00 0.000 6 0.000 0.000 2498 2226 3253

5619 -0.90 -146.0 378.9 -4.3 426 5621 0.00 0.00 0.00 0.000 6 0.000 0.000 2498 2226 3253

5930 -0.90 -146.0 396.7 -5.8 441 5934 0.00 2.25 0.00 0.000 4 0.000 0.070 2498 823 3252

6099 -0.90 -146.0 404.6 -5.2 446 6103 0.00 2.35 0.00 0.000 6 0.000 0.071 2488 2239 3252

6224 end dive: TARGET_DEPTH_EXCEEDED

state 6224 begin apogee

6232 -0.31 0.0 413.0 6.5 449 6359 0.40 0.00 124.40 1.166 6 0.123 0.000 2614 1732 2650

6360 end apogee: CONTROL_FINISHED_OK

state 6360 begin climb

6363 0.99 146.0 415.9 0.0 452 6501 0.88 2.65 129.57 1.079 4 0.097 0.072 2905 334 2054

6577 0.76 146.0 400.5 10.4 457 6582 0.25 2.53 0.00 0.000 6 0.132 0.062 2839 1741 2050

6906 0.76 146.0 372.1 8.8 472 6908 0.00 0.00 0.00 0.000 6 0.000 0.000 2839 1741 2046

7216 0.83 169.0 349.6 6.3 487 7241 0.10 2.40 19.23 1.045 4 0.088 0.076 2881 3152 1961

7327 0.64 169.0 340.6 8.4 492 7332 0.25 2.33 0.00 0.000 6 0.133 0.057 2819 1727 1959

7654 0.90 252.0 325.4 4.3 508 7733 0.17 2.50 72.62 1.065 4 0.067 0.073 2892 3156 1622

7775 0.73 252.0 315.4 10.6 512 7783 0.25 2.38 0.00 0.000 6 0.128 0.055 2832 1733 1617

8091 1.36 252.0 288.9 9.2 528 8096 0.43 2.40 0.00 0.000 4 0.084 0.074 2981 3158 1609

8136 1.01 252.0 284.0 11.9 530 8141 0.35 2.33 0.00 0.000 6 0.160 0.058 2895 1728 1609

8458 1.01 252.2 258.8 7.0 546 8461 0.00 2.30 0.00 0.000 4 0.000 0.072 2904 330 1608

8508 1.01 252.2 254.9 7.8 548 8512 0.00 2.33 0.00 0.000 6 0.000 0.061 2904 1748 1608

8836 1.01 252.2 228.1 8.7 564 8840 0.00 2.30 0.00 0.000 4 0.000 0.077 2904 3158 1608

8905 0.83 252.2 220.9 11.4 567 8910 0.20 2.28 0.00 0.000 6 0.133 0.058 2855 1735 1606

9232 1.25 252.2 196.2 7.9 583 9236 0.28 2.30 0.00 0.000 4 0.075 0.073 2965 335 1605

9350 1.06 252.2 183.7 11.9 588 9354 0.20 2.33 0.00 0.000 6 0.143 0.064 2908 1748 1605

9670 1.06 252.2 157.0 8.1 604 9674 0.00 2.30 0.00 0.000 4 0.000 0.078 2908 3157 1605

9732 0.90 252.2 151.1 9.9 606 9739 0.17 2.28 0.00 0.000 6 0.134 0.060 2865 1735 1604

10048 1.05 252.2 129.9 7.1 622 10053 0.15 2.30 0.00 0.000 4 0.073 0.074 2941 332 1604

10088 0.94 252.2 125.9 10.8 624 10093 0.20 2.33 0.00 0.000 6 0.133 0.064 2883 1752 1604

10406 1.05 252.2 98.2 8.3 641 10413 0.10 2.30 0.00 0.000 4 0.084 0.078 2930 3159 1604

10454 0.90 252.2 93.4 10.6 649 10461 0.22 2.28 0.00 0.000 6 0.137 0.061 2874 1740 1604

10799 1.29 252.2 71.8 8.9 710 10807 0.22 2.35 0.00 0.000 4 0.073 0.077 2968 3162 1603

10842 1.19 252.2 67.9 9.3 717 10849 0.17 2.30 0.00 0.000 6 0.156 0.061 2931 1730 1603

11187 1.19 252.2 40.7 8.0 778 11193 0.00 2.30 0.00 0.000 4 0.000 0.074 2940 327 1603

11318 1.19 252.2 29.5 10.2 801 11324 0.00 2.35 0.00 0.000 6 0.000 0.066 2940 1753 1603

11570 end climb: FINISH_DEPTH_REACHED

state 11570 begin subsurface finish

11578 0.09 76.2 6.9 -11.4 846 11609 0.75 2.47 -24.27 0.000 4 0.131 0.091 2701 332 2344

11610 end subsurface finish: CONTROL_FINISHED_OK

state 11610 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	354	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	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	-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	152444,6613.524,-6022.065,29,1.7,36,-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	0.218,0.083
_SM_DEPTHo	2.09	KALMAN_X	216123.2,-30808.9,-33889.4,-270413.8,100975.4
_SM_ANGLEo	-34.2	KALMAN_Y	-272749.2,-28538.7,-4745.4,230747.1,71318.7
GPS2	154059,6613.136,-6022.036,8,3.3,27,-37.3	MHEAD_RNG_PITCHd_Wd	106.4,180052,-13.0,-7.021
SPEED_LIMITS	0.122,0.233	D_GRID	411

FREEZE	6.90,-1.769,-1.781	TCM_TEMP	14.80
FINISH1	6.9,1.026098,76	XPDR_PINGS	92
FINISH2	5.4	_24V_AH	22.1,60.902
RAFOS_CLK	527	_10V_AH	10.5,27.751
RAFOS	0,1227456252,16.083334,16.070000,123,66,63,58,50,48,711,153,179,211,233,77	DATA_FILE_SIZE	28376,851
RAFOS_FIX	12939.953125,381537.750000,231108,161636,2,97,102846.13	CAP_FILE_SIZE	118847,0
IRIDIUM_FIX	6548.42,-6024.58,170298,151529	CFSIZE	260165632,227803136
TT8_MAMPS	0.026845	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
HUMID	1832	SOUNDSPEED	1443.0
INTERNAL_PRESSURE	9.88319	GPS	231108,154059,6613.136,-6022.036,8,3.3,27,-37.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	15	185	63.79	SBE_CT	596	24	316.25
Roll_motor	110	90	220.07	SBE_O2	0	0	0.00
VBD_pump_during_apogee	345	1165	8910.20	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	45	103	103.71	nil	0	0	0.00
Iridium_during_connect	80	160	283.91	nil	0	0	0.00
Iridium_during_xfer	524	223	2586.67
Transponder_ping	23	420	213.49
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	29	50	15.44
TT8	1533	19	320.71
LPSleep	7995	2	193.92
TT8_Active	473	19	98.97
TT8_Sampling	1587	39	665.57
TT8_CF8	1023	45	493.48
TT8_Kalman	33	81	28.69
Analog_circuits	1325	12	167.04
GPS_charging	0	0	0.00
Compass	1551	8	130.32
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
13	end surface: CONTROL_FINISHED_OK
state	13	begin dive
16	-0.99	-146.0	0.0	0.0	0	113	0.00	0.00	-92.43	0.000	6	0.000	0.000	333	2238	3247
117	-0.99	-146.0	2.5	0.2	17	130	7.57	2.35	0.00	0.000	4	0.186	0.064	2466	814	3250
384	-0.40	-146.0	33.2	-14.2	64	391	0.47	2.38	0.00	0.000	6	0.163	0.072	2591	2234	3253
729	-0.46	-146.0	63.7	-7.9	125	736	0.00	2.35	0.00	0.000	4	0.000	0.071	2592	810	3253
765	-0.51	-146.0	66.7	-8.4	131	771	0.00	2.38	0.00	0.000	6	0.000	0.071	2584	2239	3253
1110	-0.62	-146.0	91.6	-5.9	192	1116	0.15	2.25	0.00	0.000	4	0.076	0.084	2511	3602	3253
1146	-0.56	-146.0	94.6	-7.8	198	1153	0.17	2.20	0.00	0.000	6	0.156	0.058	2562	2223	3253
1491	-0.67	-146.0	113.4	-5.5	226	1495	0.12	2.28	0.00	0.000	4	0.084	0.070	2511	812	3253
1535	-0.54	-146.0	117.1	-8.0	228	1540	0.22	2.38	0.00	0.000	6	0.145	0.071	2565	2245	3253
1858	-0.67	-146.0	138.4	-7.2	244	1863	0.12	2.35	0.00	0.000	4	0.082	0.069	2515	819	3253
1903	-0.56	-146.0	142.7	-9.8	246	1907	0.20	2.35	0.00	0.000	6	0.143	0.072	2561	2235	3253
2226	-0.71	-146.0	164.6	-5.5	262	2228	0.12	0.00	0.00	0.000	6	0.081	0.000	2509	2235	3253
2535	-0.71	-146.0	181.5	-4.9	277	2536	0.00	0.00	0.00	0.000	6	0.000	0.000	2509	2235	3253
2842	-0.71	-146.0	199.3	-6.6	292	2846	0.00	2.25	0.00	0.000	4	0.000	0.086	2499	3601	3252
2869	-0.71	-146.0	201.4	-7.7	293	2874	0.10	2.20	0.00	0.000	6	0.155	0.057	2523	2216	3252
3193	-0.77	-146.0	223.6	-7.2	309	3194	0.00	0.00	0.00	0.000	6	0.000	0.000	2523	2216	3253
3500	-0.83	-146.0	243.2	-6.3	324	3505	0.10	2.33	0.00	0.000	4	0.098	0.083	2473	3600	3253
3573	-0.73	-146.0	249.4	-9.6	327	3577	0.17	2.17	0.00	0.000	6	0.153	0.057	2521	2229	3252
3896	-0.81	-146.0	268.2	-5.0	343	3900	0.00	2.28	0.00	0.000	4	0.000	0.070	2524	814	3252
3913	-0.86	-146.0	269.3	-5.1	343	3920	0.10	2.35	0.00	0.000	6	0.089	0.071	2475	2235	3252
4229	-0.78	-146.0	293.4	-8.3	359	4234	0.15	2.25	0.00	0.000	4	0.152	0.083	2507	3602	3252
4307	-0.85	-146.0	300.1	-8.7	362	4314	0.00	2.17	0.00	0.000	6	0.000	0.057	2508	2229	3253
4623	-0.85	-146.0	326.7	-8.3	378	4627	0.00	2.30	0.00	0.000	4	0.000	0.084	2498	3598	3253
4685	-0.85	-146.0	331.8	-8.0	380	4691	0.00	2.17	0.00	0.000	6	0.000	0.057	2497	2226	3253
5001	-0.85	-146.0	350.0	-4.7	396	5002	0.00	0.00	0.00	0.000	6	0.000	0.000	2498	2225	3252
5310	-0.85	-146.0	364.5	-4.6	411	5312	0.00	0.00	0.00	0.000	6	0.000	0.000	2498	2226	3253
5619	-0.90	-146.0	378.9	-4.3	426	5621	0.00	0.00	0.00	0.000	6	0.000	0.000	2498	2226	3253
5930	-0.90	-146.0	396.7	-5.8	441	5934	0.00	2.25	0.00	0.000	4	0.000	0.070	2498	823	3252
6099	-0.90	-146.0	404.6	-5.2	446	6103	0.00	2.35	0.00	0.000	6	0.000	0.071	2488	2239	3252
6224	end dive: TARGET_DEPTH_EXCEEDED
state	6224	begin apogee
6232	-0.31	0.0	413.0	6.5	449	6359	0.40	0.00	124.40	1.166	6	0.123	0.000	2614	1732	2650
6360	end apogee: CONTROL_FINISHED_OK
state	6360	begin climb
6363	0.99	146.0	415.9	0.0	452	6501	0.88	2.65	129.57	1.079	4	0.097	0.072	2905	334	2054
6577	0.76	146.0	400.5	10.4	457	6582	0.25	2.53	0.00	0.000	6	0.132	0.062	2839	1741	2050
6906	0.76	146.0	372.1	8.8	472	6908	0.00	0.00	0.00	0.000	6	0.000	0.000	2839	1741	2046
7216	0.83	169.0	349.6	6.3	487	7241	0.10	2.40	19.23	1.045	4	0.088	0.076	2881	3152	1961
7327	0.64	169.0	340.6	8.4	492	7332	0.25	2.33	0.00	0.000	6	0.133	0.057	2819	1727	1959
7654	0.90	252.0	325.4	4.3	508	7733	0.17	2.50	72.62	1.065	4	0.067	0.073	2892	3156	1622
7775	0.73	252.0	315.4	10.6	512	7783	0.25	2.38	0.00	0.000	6	0.128	0.055	2832	1733	1617
8091	1.36	252.0	288.9	9.2	528	8096	0.43	2.40	0.00	0.000	4	0.084	0.074	2981	3158	1609
8136	1.01	252.0	284.0	11.9	530	8141	0.35	2.33	0.00	0.000	6	0.160	0.058	2895	1728	1609
8458	1.01	252.2	258.8	7.0	546	8461	0.00	2.30	0.00	0.000	4	0.000	0.072	2904	330	1608
8508	1.01	252.2	254.9	7.8	548	8512	0.00	2.33	0.00	0.000	6	0.000	0.061	2904	1748	1608
8836	1.01	252.2	228.1	8.7	564	8840	0.00	2.30	0.00	0.000	4	0.000	0.077	2904	3158	1608
8905	0.83	252.2	220.9	11.4	567	8910	0.20	2.28	0.00	0.000	6	0.133	0.058	2855	1735	1606
9232	1.25	252.2	196.2	7.9	583	9236	0.28	2.30	0.00	0.000	4	0.075	0.073	2965	335	1605
9350	1.06	252.2	183.7	11.9	588	9354	0.20	2.33	0.00	0.000	6	0.143	0.064	2908	1748	1605
9670	1.06	252.2	157.0	8.1	604	9674	0.00	2.30	0.00	0.000	4	0.000	0.078	2908	3157	1605
9732	0.90	252.2	151.1	9.9	606	9739	0.17	2.28	0.00	0.000	6	0.134	0.060	2865	1735	1604
10048	1.05	252.2	129.9	7.1	622	10053	0.15	2.30	0.00	0.000	4	0.073	0.074	2941	332	1604
10088	0.94	252.2	125.9	10.8	624	10093	0.20	2.33	0.00	0.000	6	0.133	0.064	2883	1752	1604
10406	1.05	252.2	98.2	8.3	641	10413	0.10	2.30	0.00	0.000	4	0.084	0.078	2930	3159	1604
10454	0.90	252.2	93.4	10.6	649	10461	0.22	2.28	0.00	0.000	6	0.137	0.061	2874	1740	1604
10799	1.29	252.2	71.8	8.9	710	10807	0.22	2.35	0.00	0.000	4	0.073	0.077	2968	3162	1603
10842	1.19	252.2	67.9	9.3	717	10849	0.17	2.30	0.00	0.000	6	0.156	0.061	2931	1730	1603
11187	1.19	252.2	40.7	8.0	778	11193	0.00	2.30	0.00	0.000	4	0.000	0.074	2940	327	1603
11318	1.19	252.2	29.5	10.2	801	11324	0.00	2.35	0.00	0.000	6	0.000	0.066	2940	1753	1603
11570	end climb: FINISH_DEPTH_REACHED
state	11570	begin subsurface finish
11578	0.09	76.2	6.9	-11.4	846	11609	0.75	2.47	-24.27	0.000	4	0.131	0.091	2701	332	2344
11610	end subsurface finish: CONTROL_FINISHED_OK
state	11610	begin surface