Glider dive log

DavisStrait Sep08 * SG108 * Dive index * Mission links * Dive 360 * 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 360 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 25 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 25 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 360 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 0.202,0.116

_SM_DEPTHo 5.19 KALMAN_X 176918.6,1221.0,1221.0,-299683.1,-7341.3

_SM_ANGLEo -5.3 KALMAN_Y -283544.0,296.9,296.9,206971.6,-1135.6

GPS2 154059,6613.136,-6022.036,8,3.3,27,-37.3 MHEAD_RNG_PITCHd_Wd 97.5,180052,-13.0,-7.021

SPEED_LIMITS 0.122,0.233 D_GRID 411

Post-dive calculations and measurements:

FREEZE 6.99,-1.787,-1.801 TCM_TEMP 14.90

FINISH1 7.0,1.026387,62 XPDR_PINGS 14

FINISH2 5.3 _24V_AH 22.1,61.633

RAFOS_CLK 525 _10V_AH 10.5,28.035

RAFOS 0,1227528256,12.083333,12.071111,61,57,56,51,51,50,198,161,124,215,1228,179 DATA_FILE_SIZE 28414,828

RAFOS_FIX 6625.852539,-5458.709473,241108,040432,2,100,5.14 CAP_FILE_SIZE 98635,0

IRIDIUM_FIX 6548.42,-6024.58,170298,151529 CFSIZE 260165632,227504128

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

HUMID 1805 SOUNDSPEED 1443.1

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 7 148 23.72 SBE_CT 580 24 307.94

Roll_motor 108 102 245.17 SBE_O2 0 0 0.00

VBD_pump_during_apogee 390 1160 10003.38 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 3 420 32.49

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 0 50 0.00

TT8 1463 19 306.14

LPSleep 7652 2 185.61

TT8_Active 465 19 97.46

TT8_Sampling 1481 39 620.99

TT8_CF8 185 45 89.25

TT8_Kalman 32 81 27.83

Analog_circuits 1281 12 161.50

GPS_charging 0 0 0.00

Compass 1477 8 124.12

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

17 -0.99 -146.0 0.0 0.0 0 47 0.00 0.00 -28.27 0.000 2 0.000 0.000 2693 330 2976

50 -0.99 -146.0 3.1 -2.9 5 69 0.62 0.88 -12.65 0.000 4 0.055 0.102 2442 829 3248

233 -0.65 -146.0 19.8 -10.3 37 240 0.38 2.30 0.00 0.000 6 0.141 0.074 2541 2239 3252

579 -0.76 -146.0 45.8 -7.2 98 585 0.10 2.33 0.00 0.000 4 0.091 0.067 2500 818 3253

627 -0.69 -146.0 49.2 -7.7 106 633 0.15 2.35 0.00 0.000 6 0.140 0.071 2532 2242 3253

972 -0.75 -146.0 73.5 -6.7 167 978 0.00 2.22 0.00 0.000 4 0.000 0.084 2523 3598 3252

1019 -0.83 -146.0 77.3 -8.3 175 1026 0.10 2.17 0.00 0.000 6 0.097 0.056 2480 2222 3252

1373 -0.77 -146.0 110.2 -9.5 224 1378 0.12 2.30 0.00 0.000 4 0.148 0.084 2505 3598 3252

1400 -0.77 -146.0 112.9 -8.8 225 1404 0.00 2.17 0.00 0.000 6 0.000 0.057 2505 2224 3252

1727 -0.77 -146.0 139.5 -8.1 241 1728 0.00 0.00 0.00 0.000 6 0.000 0.000 2505 2224 3252

2037 -0.77 -146.0 164.1 -8.0 256 2038 0.00 0.00 0.00 0.000 6 0.000 0.000 2505 2224 3252

2347 -0.77 -146.0 188.1 -7.8 271 2351 0.00 2.25 0.00 0.000 4 0.000 0.071 2505 820 3252

2363 -0.77 -146.0 189.6 -7.7 271 2369 0.00 2.35 0.00 0.000 6 0.000 0.071 2495 2245 3252

2679 -0.77 -146.0 211.8 -5.6 287 2680 0.00 0.00 0.00 0.000 6 0.000 0.000 2495 2245 3252

2988 -0.77 -146.0 227.9 -6.2 302 2992 0.00 2.33 0.00 0.000 4 0.000 0.069 2494 822 3252

3105 -0.77 -146.0 236.7 -7.8 307 3110 0.12 2.35 0.00 0.000 6 0.140 0.073 2518 2241 3251

3427 -0.86 -146.0 258.1 -6.9 323 3432 0.10 2.33 0.00 0.000 4 0.094 0.069 2476 823 3252

3472 -0.75 -146.0 262.0 -8.9 325 3477 0.20 2.35 0.00 0.000 6 0.140 0.072 2523 2243 3252

3793 -0.88 -146.0 285.2 -7.6 341 3795 0.12 0.00 0.00 0.000 6 0.088 0.000 2473 2242 3252

4102 -0.88 -146.0 313.6 -8.6 356 4105 0.00 2.33 0.00 0.000 4 0.000 0.071 2472 813 3252

4152 -0.81 -146.0 318.1 -8.7 358 4157 0.15 2.35 0.00 0.000 6 0.142 0.071 2503 2235 3252

4474 -0.89 -146.0 340.3 -6.5 374 4478 0.00 2.25 0.00 0.000 4 0.000 0.084 2495 3604 3251

4530 -0.97 -146.0 344.3 -7.4 376 4534 0.10 2.20 0.00 0.000 6 0.096 0.057 2453 2215 3251

4851 -0.88 -146.0 366.7 -5.9 392 4856 0.15 2.33 0.00 0.000 4 0.146 0.086 2486 3594 3251

4941 -0.95 -146.0 370.9 -4.8 396 4945 0.00 2.17 0.00 0.000 6 0.000 0.056 2486 2217 3251

5270 -0.95 -146.0 389.3 -6.1 412 5271 0.00 0.00 0.00 0.000 6 0.000 0.000 2486 2217 3251

5597 -0.99 -146.0 409.8 -5.8 424 5601 0.00 2.33 0.00 0.000 4 0.000 0.082 2476 3605 3251

5616 end dive: TARGET_DEPTH_EXCEEDED

state 5616 begin apogee

5625 -0.31 0.0 411.1 5.5 424 5753 0.43 0.00 124.28 1.160 6 0.133 0.000 2611 1734 2650

5753 end apogee: CONTROL_FINISHED_OK

state 5753 begin climb

5756 0.99 146.0 414.4 0.0 427 5894 0.88 2.67 129.60 1.076 4 0.099 0.072 2903 330 2054

5914 0.82 146.0 404.9 8.8 430 5919 0.17 2.58 0.00 0.000 6 0.139 0.061 2860 1736 2052

6228 0.78 146.0 380.3 8.0 443 6232 0.00 2.42 0.00 0.000 4 0.000 0.074 2860 3162 2047

6279 0.60 146.0 375.7 9.3 445 6284 0.22 2.40 0.00 0.000 6 0.130 0.058 2805 1727 2045

6596 0.93 146.0 353.6 7.3 460 6601 0.22 2.33 0.00 0.000 4 0.071 0.071 2897 327 2045

6623 0.93 146.0 350.7 10.6 461 6627 0.00 2.35 0.00 0.000 6 0.000 0.061 2897 1749 2045

6947 0.76 146.0 319.2 9.8 477 6952 0.20 2.30 0.00 0.000 4 0.133 0.074 2834 3154 2046

7042 0.76 146.0 311.1 8.1 481 7046 0.00 2.30 0.00 0.000 6 0.000 0.058 2842 1723 2045

7364 0.82 146.0 288.2 7.3 497 7365 0.00 0.00 0.00 0.000 6 0.000 0.000 2842 1723 2045

7673 0.88 154.3 266.4 6.8 512 7687 0.10 2.42 6.70 0.902 4 0.087 0.073 2888 3158 2022

7732 0.66 154.3 260.7 10.3 514 7739 0.28 2.28 0.00 0.000 6 0.134 0.058 2817 1738 2022

8049 1.01 213.0 244.0 5.1 530 8106 0.22 2.42 51.45 1.045 4 0.076 0.074 2908 3160 1780

8145 0.75 213.0 236.9 8.7 533 8152 0.28 2.35 0.00 0.000 6 0.137 0.058 2840 1731 1776

8462 1.14 213.0 218.3 7.0 549 8467 0.25 2.38 0.00 0.000 4 0.077 0.074 2937 3155 1771

8529 0.77 213.0 211.5 11.9 552 8534 0.35 2.30 0.00 0.000 6 0.138 0.058 2844 1726 1770

8851 0.94 229.9 190.2 6.5 568 8870 0.15 0.00 14.30 0.979 6 0.073 0.000 2910 1727 1712

9179 0.87 229.9 160.1 9.5 584 9184 0.15 2.30 0.00 0.000 4 0.133 0.072 2875 329 1710

9200 0.87 229.9 158.1 8.7 585 9204 0.00 2.33 0.00 0.000 6 0.000 0.062 2875 1741 1709

9528 0.94 229.9 133.6 7.3 601 9532 0.00 2.30 0.00 0.000 4 0.000 0.077 2875 3153 1709

9600 0.94 229.9 127.7 8.4 604 9604 0.00 2.28 0.00 0.000 6 0.000 0.059 2885 1735 1707

9928 1.03 255.1 106.4 6.2 620 9958 0.00 2.40 22.55 0.971 4 0.000 0.074 2895 324 1609

9987 1.12 279.5 102.7 6.2 622 10016 0.10 2.35 23.38 0.940 6 0.089 0.063 2938 1738 1510

10350 1.02 279.5 68.6 10.0 681 10357 0.15 2.35 0.00 0.000 4 0.137 0.077 2896 3164 1503

10476 1.04 299.8 60.0 6.4 703 10500 0.00 2.33 17.80 0.918 6 0.000 0.061 2904 1728 1427

10839 1.09 299.8 34.7 7.2 767 10845 0.00 2.30 0.00 0.000 4 0.000 0.074 2913 331 1423

10863 1.14 299.8 32.8 8.1 771 10870 0.00 2.33 0.00 0.000 6 0.000 0.063 2913 1742 1423

11144 end climb: FINISH_DEPTH_REACHED

state 11144 begin subsurface finish

11152 0.08 62.0 7.0 -10.3 821 11193 0.68 2.38 -32.78 0.000 4 0.125 0.099 2692 3165 2402

11194 end subsurface finish: CONTROL_FINISHED_OK

state 11194 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	360	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	25	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	0.202,0.116
_SM_DEPTHo	5.19	KALMAN_X	176918.6,1221.0,1221.0,-299683.1,-7341.3
_SM_ANGLEo	-5.3	KALMAN_Y	-283544.0,296.9,296.9,206971.6,-1135.6
GPS2	154059,6613.136,-6022.036,8,3.3,27,-37.3	MHEAD_RNG_PITCHd_Wd	97.5,180052,-13.0,-7.021
SPEED_LIMITS	0.122,0.233	D_GRID	411

FREEZE	6.99,-1.787,-1.801	TCM_TEMP	14.90
FINISH1	7.0,1.026387,62	XPDR_PINGS	14
FINISH2	5.3	_24V_AH	22.1,61.633
RAFOS_CLK	525	_10V_AH	10.5,28.035
RAFOS	0,1227528256,12.083333,12.071111,61,57,56,51,51,50,198,161,124,215,1228,179	DATA_FILE_SIZE	28414,828
RAFOS_FIX	6625.852539,-5458.709473,241108,040432,2,100,5.14	CAP_FILE_SIZE	98635,0
IRIDIUM_FIX	6548.42,-6024.58,170298,151529	CFSIZE	260165632,227504128
TT8_MAMPS	0.026845	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
HUMID	1805	SOUNDSPEED	1443.1
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	7	148	23.72	SBE_CT	580	24	307.94
Roll_motor	108	102	245.17	SBE_O2	0	0	0.00
VBD_pump_during_apogee	390	1160	10003.38	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	3	420	32.49
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	0	50	0.00
TT8	1463	19	306.14
LPSleep	7652	2	185.61
TT8_Active	465	19	97.46
TT8_Sampling	1481	39	620.99
TT8_CF8	185	45	89.25
TT8_Kalman	32	81	27.83
Analog_circuits	1281	12	161.50
GPS_charging	0	0	0.00
Compass	1477	8	124.12
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
17	-0.99	-146.0	0.0	0.0	0	47	0.00	0.00	-28.27	0.000	2	0.000	0.000	2693	330	2976
50	-0.99	-146.0	3.1	-2.9	5	69	0.62	0.88	-12.65	0.000	4	0.055	0.102	2442	829	3248
233	-0.65	-146.0	19.8	-10.3	37	240	0.38	2.30	0.00	0.000	6	0.141	0.074	2541	2239	3252
579	-0.76	-146.0	45.8	-7.2	98	585	0.10	2.33	0.00	0.000	4	0.091	0.067	2500	818	3253
627	-0.69	-146.0	49.2	-7.7	106	633	0.15	2.35	0.00	0.000	6	0.140	0.071	2532	2242	3253
972	-0.75	-146.0	73.5	-6.7	167	978	0.00	2.22	0.00	0.000	4	0.000	0.084	2523	3598	3252
1019	-0.83	-146.0	77.3	-8.3	175	1026	0.10	2.17	0.00	0.000	6	0.097	0.056	2480	2222	3252
1373	-0.77	-146.0	110.2	-9.5	224	1378	0.12	2.30	0.00	0.000	4	0.148	0.084	2505	3598	3252
1400	-0.77	-146.0	112.9	-8.8	225	1404	0.00	2.17	0.00	0.000	6	0.000	0.057	2505	2224	3252
1727	-0.77	-146.0	139.5	-8.1	241	1728	0.00	0.00	0.00	0.000	6	0.000	0.000	2505	2224	3252
2037	-0.77	-146.0	164.1	-8.0	256	2038	0.00	0.00	0.00	0.000	6	0.000	0.000	2505	2224	3252
2347	-0.77	-146.0	188.1	-7.8	271	2351	0.00	2.25	0.00	0.000	4	0.000	0.071	2505	820	3252
2363	-0.77	-146.0	189.6	-7.7	271	2369	0.00	2.35	0.00	0.000	6	0.000	0.071	2495	2245	3252
2679	-0.77	-146.0	211.8	-5.6	287	2680	0.00	0.00	0.00	0.000	6	0.000	0.000	2495	2245	3252
2988	-0.77	-146.0	227.9	-6.2	302	2992	0.00	2.33	0.00	0.000	4	0.000	0.069	2494	822	3252
3105	-0.77	-146.0	236.7	-7.8	307	3110	0.12	2.35	0.00	0.000	6	0.140	0.073	2518	2241	3251
3427	-0.86	-146.0	258.1	-6.9	323	3432	0.10	2.33	0.00	0.000	4	0.094	0.069	2476	823	3252
3472	-0.75	-146.0	262.0	-8.9	325	3477	0.20	2.35	0.00	0.000	6	0.140	0.072	2523	2243	3252
3793	-0.88	-146.0	285.2	-7.6	341	3795	0.12	0.00	0.00	0.000	6	0.088	0.000	2473	2242	3252
4102	-0.88	-146.0	313.6	-8.6	356	4105	0.00	2.33	0.00	0.000	4	0.000	0.071	2472	813	3252
4152	-0.81	-146.0	318.1	-8.7	358	4157	0.15	2.35	0.00	0.000	6	0.142	0.071	2503	2235	3252
4474	-0.89	-146.0	340.3	-6.5	374	4478	0.00	2.25	0.00	0.000	4	0.000	0.084	2495	3604	3251
4530	-0.97	-146.0	344.3	-7.4	376	4534	0.10	2.20	0.00	0.000	6	0.096	0.057	2453	2215	3251
4851	-0.88	-146.0	366.7	-5.9	392	4856	0.15	2.33	0.00	0.000	4	0.146	0.086	2486	3594	3251
4941	-0.95	-146.0	370.9	-4.8	396	4945	0.00	2.17	0.00	0.000	6	0.000	0.056	2486	2217	3251
5270	-0.95	-146.0	389.3	-6.1	412	5271	0.00	0.00	0.00	0.000	6	0.000	0.000	2486	2217	3251
5597	-0.99	-146.0	409.8	-5.8	424	5601	0.00	2.33	0.00	0.000	4	0.000	0.082	2476	3605	3251
5616	end dive: TARGET_DEPTH_EXCEEDED
state	5616	begin apogee
5625	-0.31	0.0	411.1	5.5	424	5753	0.43	0.00	124.28	1.160	6	0.133	0.000	2611	1734	2650
5753	end apogee: CONTROL_FINISHED_OK
state	5753	begin climb
5756	0.99	146.0	414.4	0.0	427	5894	0.88	2.67	129.60	1.076	4	0.099	0.072	2903	330	2054
5914	0.82	146.0	404.9	8.8	430	5919	0.17	2.58	0.00	0.000	6	0.139	0.061	2860	1736	2052
6228	0.78	146.0	380.3	8.0	443	6232	0.00	2.42	0.00	0.000	4	0.000	0.074	2860	3162	2047
6279	0.60	146.0	375.7	9.3	445	6284	0.22	2.40	0.00	0.000	6	0.130	0.058	2805	1727	2045
6596	0.93	146.0	353.6	7.3	460	6601	0.22	2.33	0.00	0.000	4	0.071	0.071	2897	327	2045
6623	0.93	146.0	350.7	10.6	461	6627	0.00	2.35	0.00	0.000	6	0.000	0.061	2897	1749	2045
6947	0.76	146.0	319.2	9.8	477	6952	0.20	2.30	0.00	0.000	4	0.133	0.074	2834	3154	2046
7042	0.76	146.0	311.1	8.1	481	7046	0.00	2.30	0.00	0.000	6	0.000	0.058	2842	1723	2045
7364	0.82	146.0	288.2	7.3	497	7365	0.00	0.00	0.00	0.000	6	0.000	0.000	2842	1723	2045
7673	0.88	154.3	266.4	6.8	512	7687	0.10	2.42	6.70	0.902	4	0.087	0.073	2888	3158	2022
7732	0.66	154.3	260.7	10.3	514	7739	0.28	2.28	0.00	0.000	6	0.134	0.058	2817	1738	2022
8049	1.01	213.0	244.0	5.1	530	8106	0.22	2.42	51.45	1.045	4	0.076	0.074	2908	3160	1780
8145	0.75	213.0	236.9	8.7	533	8152	0.28	2.35	0.00	0.000	6	0.137	0.058	2840	1731	1776
8462	1.14	213.0	218.3	7.0	549	8467	0.25	2.38	0.00	0.000	4	0.077	0.074	2937	3155	1771
8529	0.77	213.0	211.5	11.9	552	8534	0.35	2.30	0.00	0.000	6	0.138	0.058	2844	1726	1770
8851	0.94	229.9	190.2	6.5	568	8870	0.15	0.00	14.30	0.979	6	0.073	0.000	2910	1727	1712
9179	0.87	229.9	160.1	9.5	584	9184	0.15	2.30	0.00	0.000	4	0.133	0.072	2875	329	1710
9200	0.87	229.9	158.1	8.7	585	9204	0.00	2.33	0.00	0.000	6	0.000	0.062	2875	1741	1709
9528	0.94	229.9	133.6	7.3	601	9532	0.00	2.30	0.00	0.000	4	0.000	0.077	2875	3153	1709
9600	0.94	229.9	127.7	8.4	604	9604	0.00	2.28	0.00	0.000	6	0.000	0.059	2885	1735	1707
9928	1.03	255.1	106.4	6.2	620	9958	0.00	2.40	22.55	0.971	4	0.000	0.074	2895	324	1609
9987	1.12	279.5	102.7	6.2	622	10016	0.10	2.35	23.38	0.940	6	0.089	0.063	2938	1738	1510
10350	1.02	279.5	68.6	10.0	681	10357	0.15	2.35	0.00	0.000	4	0.137	0.077	2896	3164	1503
10476	1.04	299.8	60.0	6.4	703	10500	0.00	2.33	17.80	0.918	6	0.000	0.061	2904	1728	1427
10839	1.09	299.8	34.7	7.2	767	10845	0.00	2.30	0.00	0.000	4	0.000	0.074	2913	331	1423
10863	1.14	299.8	32.8	8.1	771	10870	0.00	2.33	0.00	0.000	6	0.000	0.063	2913	1742	1423
11144	end climb: FINISH_DEPTH_REACHED
state	11144	begin subsurface finish
11152	0.08	62.0	7.0	-10.3	821	11193	0.68	2.38	-32.78	0.000	4	0.125	0.099	2692	3165	2402
11194	end subsurface finish: CONTROL_FINISHED_OK
state	11194	begin surface