Glider dive log

DavisStrait Sep08 * SG113 * Dive index * Mission links * Dive 120 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 113 HEADING -1 PITCH_ADJ_DBAND 1 ALTIM_TOP_TURN_MARGIN 0

MISSION 4 ESCAPE_HEADING 0 ROLL_MIN 280 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 120 ESCAPE_HEADING_DELTA 10 ROLL_MAX 3944 ALTIM_PING_DEPTH 0

D_SURF 2 FIX_MISSING_TIMEOUT 0 ROLL_DEG 40 ALTIM_PING_DELTA 0

D_FLARE 3 TGT_DEFAULT_LAT 21 C_ROLL_DIVE 2340 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LON -158.3 C_ROLL_CLIMB 2520 ALTIM_PULSE 3

D_ABORT 1090 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 3

D_NO_BLEED 50 SM_CC 275 ROLL_CNV 0.028270001 XPDR_VALID 4

D_FINISH 0 N_FILEKB 4 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

D_PITCH 0 FILEMGR 0 R_PORT_OVSHOOT 32 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 30 INT_PRESSURE_YINT 0

D_CALL 0 COMM_SEQ 0 ROLL_AD_RATE 350 DEEPGLIDER 0

SURFACE_URGENCY 0 KERMIT 0 ROLL_MAXERRORS 0 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 N_NOCOMM 1 ROLL_ADJ_GAIN 0 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 N_NOSURFACE 0 ROLL_ADJ_DBAND 0 DEVICE1 2

T_DIVE 470 UPLOAD_DIVES_MAX -1 VBD_MIN 144 DEVICE2 20

T_MISSION 500 CALL_TRIES 5 VBD_MAX 3700 DEVICE3 -1

T_ABORT 1440 CALL_WAIT 60 C_VBD 2420 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 15 PITCH_VBD_SHIFT 0.00135 SMARTDEVICE1 -1

USE_ICE 0 N_GPS 20 VBD_PUMP_AD_RATE_SURFACE 4 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.30000001 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_APOGEE 4 COMPASS_DEVICE 33

D_OFFGRID 100 T_GPS_CHARGE -24174.533 VBD_BLEED_AD_RATE 8 COMPASS2_DEVICE -1

T_WATCHDOG 10 T_RSLEEP 2 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 171 AH0_10V 100 SIM_W 0

GLIDE_SLOPE 30 PITCH_MAX 4022 PHONE_SUPPLY 2 SIM_PITCH 0

SPEED_FACTOR 1 C_PITCH 2436 PRESSURE_YINT -25.705193 SEABIRD_T_G 0.004371644

RHO 1.02765 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001160825 SEABIRD_T_H 0.00064727472

MASS 51576 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_T_I 2.6231954e-05

NAV_MODE 1 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_T_J 2.8174416e-06

FERRY_MAX 45 PITCH_GAIN 14.7 TCM_ROLL_OFFSET 0 SEABIRD_C_G -9.9426794

KALMAN_USE 1 PITCH_TIMEOUT 20 COMPASS_USE 0 SEABIRD_C_H 1.1390046

HD_A 0.00342 PITCH_AD_RATE 150 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_I -0.00057758979

HD_B 0.0096000005 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.00012778315

HD_C 3.1312e-05 PITCH_ADJ_GAIN 0.045000002 ALTIM_BOTTOM_TURN_MARGIN 0

AD7714Ch0Gain 128 D_FINISH 0 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 275

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 100 PITCH_GAIN 14.7 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 0 D_PITCH 0 PITCH_MAX 4022 SURFACE_URGENCY 0

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DELTA 0 D_SURF 2 PITCH_MIN 171 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 0 D_TGT 990 PITCH_TIMEOUT 20 TCM_PITCH_OFFSET 0

ALTIM_PULSE 3 ESCAPE_HEADING 0 PITCH_VBD_SHIFT 0.00135 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 3 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.0001160825 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 45 PRESSURE_YINT -25.705193 TGT_DEFAULT_LAT 21

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LON -158.3

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 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 15

CALL_TRIES 5 HD_A 0.00342 RAFOS_PEAK_OFFSET 1.5 T_GPS_ALMANAC 0

CALL_WAIT 60 HD_B 0.0096000005 RELAUNCH 1 T_GPS_CHARGE -24174.533

CAPMAXSIZE 100000 HD_C 3.1312e-05 RHO 1.02765 T_MISSION 500

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_NO_W 120

CF8_MAXERRORS 0 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_RSLEEP 2

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 350 T_TURN 225

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN_SAMPINT 5

COMPASS_DEVICE 33 ID 113 ROLL_DEG 40 T_WATCHDOG 10

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3944 UNCOM_BLEED 20

COURSE_BIAS 0 INT_PRESSURE_YINT 0 ROLL_MAXERRORS 0 UPLOAD_DIVES_MAX -1

C_PITCH 2436 KALMAN_USE 1 ROLL_MIN 280 USE_BATHY -2

C_ROLL_CLIMB 2520 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 2340 MASS 51576 R_PORT_OVSHOOT 32 VBD_BLEED_AD_RATE 8

C_VBD 2420 MAX_BUOY 150 R_STBD_OVSHOOT 30 VBD_CNV -0.24529999

DEEPGLIDER 0 MISSION 4 SEABIRD_C_G -9.9426794 VBD_DBAND 2

DEEPGLIDERMB 0 MOTHERBOARD 4 SEABIRD_C_H 1.1390046 VBD_MAX 3700

DEVICE1 2 NAV_MODE 1 SEABIRD_C_I -0.00057758979 VBD_MAXERRORS 1

DEVICE2 20 N_FILEKB 4 SEABIRD_C_J 0.00012778315 VBD_MIN 144

DEVICE3 -1 N_GPS 20 SEABIRD_T_G 0.004371644 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE4 -1 N_NOCOMM 1 SEABIRD_T_H 0.00064727472 VBD_PUMP_AD_RATE_SURFACE 4

DEVICE5 -1 N_NOSURFACE 0 SEABIRD_T_I 2.6231954e-05 VBD_TIMEOUT 360

DEVICE6 -1 PHONE_DEVICE 48 SEABIRD_T_J 2.8174416e-06 XPDR_DEVICE 24

DIVE 120 PHONE_SUPPLY 2 SIM_PITCH 0 XPDR_INHIBIT 90

D_ABORT 1090 PITCH_ADJ_DBAND 1 SIM_W 0 XPDR_VALID 4

D_CALL 0 PITCH_ADJ_GAIN 0.045000002 SMARTDEVICE1 -1

Pre-dive calculations and measurements:

GPS1 111138,6641.077,-6040.627,38,1.3,38,-38.0 TGT_NAME TARGET_W_IN

_CALLS 1 TGT_LATLONG 6642.000,-6043.000

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.133,-0.124

_SM_DEPTHo 1.59 KALMAN_X 17882.2,21.4,80.1,-124792.5,83.5

_SM_ANGLEo -64.6 KALMAN_Y -12853.3,120.2,-1889.9,-10709.7,3344.4

GPS2 111633,6641.113,-6040.619,9,1.6,9,-38.0 MHEAD_RNG_PITCHd_Wd 265.0,2396,-17.3,-7.021

SPEED_LIMITS 0.122,0.224 D_GRID 479

Post-dive calculations and measurements:

FINISH 0.9,1.020525 TCM_TEMP 15.40

SM_CCo 10997,32.05,0.976,0,0,1298,275.23 XPDR_PINGS 0

SM_GC 2.06,0.00,0.00,32.05,0.000,0.000,0.976,167,2331,1298,-10.44,-0.25,275.23 _24V_AH 22.1,27.643

RAFOS_CLK 630 _10V_AH 10.5,10.702

RAFOS 0,1222776245,12.083333,12.068055,91,57,56,55,54,54,619,221,206,190,160,177 DATA_FILE_SIZE 28440,763

RAFOS_FIX 6641.055664,-6037.394531,300908,121248,5,97,0.57 CAP_FILE_SIZE 99236,0

IRIDIUM_FIX 6609.62,-6036.17,251297,070724 CFSIZE 260165632,242651136

TT8_MAMPS 0.028379 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

HUMID 1891 SOUNDSPEED 1446.9

INTERNAL_PRESSURE 8.51595 GPS 300908,142255,6642.370,-6043.192,38,1.4,38,-38.1

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 21 269 126.43 SBE_CT 594 24 315.15

Roll_motor 101 79 177.12 SBE_O2 518 19 217.55

VBD_pump_during_apogee 330 1241 9054.09 nil 0 0 0.00

VBD_pump_during_surface 32 975 691.04 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 22 103 51.24 nil 0 0 0.00

Iridium_during_connect 37 160 132.81 nil 0 0 0.00

Iridium_during_xfer 132 223 654.42

Transponder_ping 0 420 0.00

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 10 50 5.53

TT8 1374 19 287.55

LPSleep 7731 2 187.52

TT8_Active 504 19 105.52

TT8_Sampling 1409 39 590.68

TT8_CF8 326 45 157.19

TT8_Kalman 33 81 28.70

Analog_circuits 1278 12 161.06

GPS_charging 0 0 0.00

Compass 1390 8 116.82

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 14 begin dive

17 -1.30 -87.1 0.0 0.0 0 138 0.00 0.00 -118.40 0.000 6 0.000 0.000 165 2350 2776

140 -1.38 -146.0 3.3 -2.8 21 165 8.43 2.35 -8.30 0.000 4 0.269 0.073 2131 941 3019

239 -0.80 -146.0 27.9 -25.3 38 246 0.50 2.28 0.00 0.000 6 0.194 0.054 2263 2343 3021

584 -0.89 -146.0 66.0 -9.2 99 590 0.00 2.33 0.00 0.000 4 0.000 0.071 2262 3752 3023

686 -1.04 -146.0 75.4 -9.0 117 693 0.17 2.22 0.00 0.000 6 0.100 0.043 2201 2334 3023

1020 -1.04 -146.0 111.5 -11.2 163 1024 0.00 2.22 0.00 0.000 4 0.000 0.058 2201 937 3024

1075 -0.96 -146.0 118.0 -11.7 165 1080 0.12 2.28 0.00 0.000 6 0.184 0.055 2231 2348 3024

1396 -1.05 -146.0 150.5 -10.0 181 1400 0.00 2.30 0.00 0.000 4 0.000 0.072 2231 3745 3024

1535 -1.19 -146.0 165.1 -10.1 187 1540 0.20 2.20 0.00 0.000 6 0.094 0.042 2162 2333 3024

1862 -1.08 -146.0 204.9 -11.8 203 1866 0.15 2.22 0.00 0.000 4 0.178 0.059 2200 938 3023

1900 -1.08 -146.0 209.2 -10.6 204 1907 0.00 2.28 0.00 0.000 6 0.000 0.054 2200 2341 3023

2215 -1.08 -146.0 238.2 -9.2 220 2219 0.00 2.30 0.00 0.000 4 0.000 0.071 2200 3743 3023

2294 -1.15 -146.0 245.4 -9.1 223 2298 0.00 2.20 0.00 0.000 6 0.000 0.044 2200 2339 3023

2614 -1.21 -146.0 272.4 -8.6 239 2616 0.12 0.00 0.00 0.000 6 0.103 0.000 2159 2338 3023

2923 -1.14 -146.0 304.0 -10.0 254 2925 0.12 0.00 0.00 0.000 6 0.189 0.000 2188 2339 3022

3233 -1.14 -146.0 332.1 -8.7 269 3236 0.00 2.35 0.00 0.000 4 0.000 0.074 2188 3753 3022

3277 -1.19 -146.0 336.1 -9.1 271 3281 0.00 2.22 0.00 0.000 6 0.000 0.044 2188 2326 3022

3609 -1.24 -146.0 363.2 -8.0 287 3611 0.10 0.00 0.00 0.000 6 0.110 0.000 2153 2326 3022

3919 -1.19 -146.0 391.6 -9.5 302 3923 0.10 2.38 0.00 0.000 4 0.188 0.074 2175 3746 3022

3962 -1.19 -146.0 395.6 -8.7 304 3966 0.00 2.22 0.00 0.000 6 0.000 0.044 2175 2342 3022

4305 -1.19 -146.0 425.4 -8.7 314 4309 0.00 2.22 0.00 0.000 4 0.000 0.058 2175 934 3022

4376 -1.19 -146.0 432.0 -9.2 315 4381 0.00 2.28 0.00 0.000 6 0.000 0.057 2175 2333 3022

4719 -1.23 -146.0 461.3 -8.7 324 4720 0.00 0.00 0.00 0.000 6 0.000 0.000 2175 2334 3022

4962 end dive: TARGET_DEPTH_EXCEEDED

state 4962 begin apogee

4967 -0.34 0.0 481.6 9.0 330 5096 0.62 0.00 125.53 1.241 6 0.153 0.000 2365 2528 2420

5096 end apogee: CONTROL_FINISHED_OK

state 5097 begin climb

5098 1.38 146.0 485.2 0.0 333 5236 1.25 2.67 128.27 1.147 4 0.110 0.070 2734 3927 1823

5287 1.09 146.0 466.8 13.7 337 5292 0.25 2.42 0.00 0.000 6 0.156 0.043 2671 2516 1821

5628 1.09 146.0 434.1 9.0 346 5632 0.00 2.45 0.00 0.000 4 0.000 0.071 2671 3927 1820

5655 1.04 146.0 431.3 10.2 346 5659 0.00 2.30 0.00 0.000 6 0.000 0.043 2674 2515 1820

5991 1.04 146.0 399.9 9.5 355 5995 0.00 2.28 0.00 0.000 4 0.000 0.058 2674 1111 1821

6019 1.09 146.0 397.3 9.2 356 6023 0.00 2.30 0.00 0.000 6 0.000 0.052 2674 2522 1821

6345 1.09 146.0 368.1 9.0 372 6348 0.00 2.33 0.00 0.000 4 0.000 0.069 2673 3934 1820

6439 0.99 146.0 357.9 10.9 376 6444 0.10 2.25 0.00 0.000 6 0.168 0.043 2650 2507 1819

6766 1.10 146.0 330.4 8.2 392 6768 0.10 0.00 0.00 0.000 6 0.098 0.000 2688 2506 1820

7074 1.10 146.0 301.6 8.9 407 7076 0.00 0.00 0.00 0.000 6 0.000 0.000 2688 2506 1820

7384 1.10 146.0 275.1 8.6 422 7388 0.00 2.35 0.00 0.000 4 0.000 0.070 2688 3930 1819

7466 0.97 146.0 266.8 11.2 425 7474 0.17 2.22 0.00 0.000 6 0.159 0.044 2641 2509 1820

7782 1.14 146.0 242.1 7.9 441 7786 0.15 2.22 0.00 0.000 4 0.094 0.057 2696 1109 1820

7797 1.26 146.0 240.7 8.2 441 7804 0.00 2.25 0.00 0.000 6 0.000 0.051 2696 2524 1820

8112 1.26 146.0 212.6 8.3 457 8116 0.00 2.28 0.00 0.000 4 0.000 0.069 2696 3926 1820

8166 1.13 146.0 207.5 9.9 459 8171 0.00 2.22 0.00 0.000 6 0.000 0.044 2702 2519 1821

8487 1.13 146.0 181.5 8.5 475 8491 0.00 2.33 0.00 0.000 4 0.000 0.071 2702 3927 1821

8555 1.01 146.0 174.9 10.2 478 8559 0.17 2.20 0.00 0.000 6 0.156 0.044 2654 2518 1821

8886 1.16 146.0 150.8 7.1 494 8890 0.12 2.22 0.00 0.000 4 0.095 0.057 2703 1114 1820

8918 1.16 146.0 148.2 7.7 495 8922 0.00 2.28 0.00 0.000 6 0.000 0.052 2702 2542 1820

9239 1.17 152.8 124.4 6.6 511 9250 0.00 2.33 6.47 0.943 4 0.000 0.071 2702 3933 1796

9288 1.07 152.8 120.7 8.2 513 9293 0.15 2.22 0.00 0.000 6 0.160 0.044 2663 2513 1796

9609 1.25 168.7 103.3 6.1 529 9630 0.15 0.00 14.43 1.054 6 0.087 0.000 2719 2512 1732

9962 1.25 168.7 72.3 8.3 584 9968 0.00 2.38 0.00 0.000 4 0.000 0.074 2719 3925 1730

10008 1.16 168.7 67.8 10.0 592 10015 0.12 2.22 0.00 0.000 6 0.168 0.046 2687 2519 1729

10353 1.30 193.1 43.9 5.7 653 10383 0.12 2.35 20.58 1.045 4 0.091 0.060 2732 1114 1631

10400 1.32 202.3 40.9 6.5 661 10414 0.00 2.30 8.95 0.926 6 0.000 0.054 2733 2518 1595

10752 1.42 202.3 14.4 7.1 723 10758 0.00 2.30 0.00 0.000 4 0.000 0.058 2733 1112 1592

10922 1.60 235.0 4.1 5.2 753 10954 0.17 2.30 25.90 1.014 2 0.085 0.054 2797 2534 1464

10955 end climb: SURFACE_DEPTH_REACHED

state 10955 begin surface coast

10982 end surface coast: CONTROL_FINISHED_OK

state 10982 begin surface

ID	113	HEADING	-1	PITCH_ADJ_DBAND	1	ALTIM_TOP_TURN_MARGIN	0
MISSION	4	ESCAPE_HEADING	0	ROLL_MIN	280	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	120	ESCAPE_HEADING_DELTA	10	ROLL_MAX	3944	ALTIM_PING_DEPTH	0
D_SURF	2	FIX_MISSING_TIMEOUT	0	ROLL_DEG	40	ALTIM_PING_DELTA	0
D_FLARE	3	TGT_DEFAULT_LAT	21	C_ROLL_DIVE	2340	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LON	-158.3	C_ROLL_CLIMB	2520	ALTIM_PULSE	3
D_ABORT	1090	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	3
D_NO_BLEED	50	SM_CC	275	ROLL_CNV	0.028270001	XPDR_VALID	4
D_FINISH	0	N_FILEKB	4	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
D_PITCH	0	FILEMGR	0	R_PORT_OVSHOOT	32	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	30	INT_PRESSURE_YINT	0
D_CALL	0	COMM_SEQ	0	ROLL_AD_RATE	350	DEEPGLIDER	0
SURFACE_URGENCY	0	KERMIT	0	ROLL_MAXERRORS	0	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	N_NOCOMM	1	ROLL_ADJ_GAIN	0	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	N_NOSURFACE	0	ROLL_ADJ_DBAND	0	DEVICE1	2
T_DIVE	470	UPLOAD_DIVES_MAX	-1	VBD_MIN	144	DEVICE2	20
T_MISSION	500	CALL_TRIES	5	VBD_MAX	3700	DEVICE3	-1
T_ABORT	1440	CALL_WAIT	60	C_VBD	2420	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	15	PITCH_VBD_SHIFT	0.00135	SMARTDEVICE1	-1
USE_ICE	0	N_GPS	20	VBD_PUMP_AD_RATE_SURFACE	4	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.30000001	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_APOGEE	4	COMPASS_DEVICE	33
D_OFFGRID	100	T_GPS_CHARGE	-24174.533	VBD_BLEED_AD_RATE	8	COMPASS2_DEVICE	-1
T_WATCHDOG	10	T_RSLEEP	2	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	171	AH0_10V	100	SIM_W	0
GLIDE_SLOPE	30	PITCH_MAX	4022	PHONE_SUPPLY	2	SIM_PITCH	0
SPEED_FACTOR	1	C_PITCH	2436	PRESSURE_YINT	-25.705193	SEABIRD_T_G	0.004371644
RHO	1.02765	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001160825	SEABIRD_T_H	0.00064727472
MASS	51576	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_T_I	2.6231954e-05
NAV_MODE	1	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_T_J	2.8174416e-06
FERRY_MAX	45	PITCH_GAIN	14.7	TCM_ROLL_OFFSET	0	SEABIRD_C_G	-9.9426794
KALMAN_USE	1	PITCH_TIMEOUT	20	COMPASS_USE	0	SEABIRD_C_H	1.1390046
HD_A	0.00342	PITCH_AD_RATE	150	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_I	-0.00057758979
HD_B	0.0096000005	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.00012778315
HD_C	3.1312e-05	PITCH_ADJ_GAIN	0.045000002	ALTIM_BOTTOM_TURN_MARGIN	0

GPS1	111138,6641.077,-6040.627,38,1.3,38,-38.0	TGT_NAME	TARGET_W_IN
_CALLS	1	TGT_LATLONG	6642.000,-6043.000
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.133,-0.124
_SM_DEPTHo	1.59	KALMAN_X	17882.2,21.4,80.1,-124792.5,83.5
_SM_ANGLEo	-64.6	KALMAN_Y	-12853.3,120.2,-1889.9,-10709.7,3344.4
GPS2	111633,6641.113,-6040.619,9,1.6,9,-38.0	MHEAD_RNG_PITCHd_Wd	265.0,2396,-17.3,-7.021
SPEED_LIMITS	0.122,0.224	D_GRID	479

FINISH	0.9,1.020525	TCM_TEMP	15.40
SM_CCo	10997,32.05,0.976,0,0,1298,275.23	XPDR_PINGS	0
SM_GC	2.06,0.00,0.00,32.05,0.000,0.000,0.976,167,2331,1298,-10.44,-0.25,275.23	_24V_AH	22.1,27.643
RAFOS_CLK	630	_10V_AH	10.5,10.702
RAFOS	0,1222776245,12.083333,12.068055,91,57,56,55,54,54,619,221,206,190,160,177	DATA_FILE_SIZE	28440,763
RAFOS_FIX	6641.055664,-6037.394531,300908,121248,5,97,0.57	CAP_FILE_SIZE	99236,0
IRIDIUM_FIX	6609.62,-6036.17,251297,070724	CFSIZE	260165632,242651136
TT8_MAMPS	0.028379	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
HUMID	1891	SOUNDSPEED	1446.9
INTERNAL_PRESSURE	8.51595	GPS	300908,142255,6642.370,-6043.192,38,1.4,38,-38.1

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	21	269	126.43	SBE_CT	594	24	315.15
Roll_motor	101	79	177.12	SBE_O2	518	19	217.55
VBD_pump_during_apogee	330	1241	9054.09	nil	0	0	0.00
VBD_pump_during_surface	32	975	691.04	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	22	103	51.24	nil	0	0	0.00
Iridium_during_connect	37	160	132.81	nil	0	0	0.00
Iridium_during_xfer	132	223	654.42
Transponder_ping	0	420	0.00
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	10	50	5.53
TT8	1374	19	287.55
LPSleep	7731	2	187.52
TT8_Active	504	19	105.52
TT8_Sampling	1409	39	590.68
TT8_CF8	326	45	157.19
TT8_Kalman	33	81	28.70
Analog_circuits	1278	12	161.06
GPS_charging	0	0	0.00
Compass	1390	8	116.82
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	14	begin dive
17	-1.30	-87.1	0.0	0.0	0	138	0.00	0.00	-118.40	0.000	6	0.000	0.000	165	2350	2776
140	-1.38	-146.0	3.3	-2.8	21	165	8.43	2.35	-8.30	0.000	4	0.269	0.073	2131	941	3019
239	-0.80	-146.0	27.9	-25.3	38	246	0.50	2.28	0.00	0.000	6	0.194	0.054	2263	2343	3021
584	-0.89	-146.0	66.0	-9.2	99	590	0.00	2.33	0.00	0.000	4	0.000	0.071	2262	3752	3023
686	-1.04	-146.0	75.4	-9.0	117	693	0.17	2.22	0.00	0.000	6	0.100	0.043	2201	2334	3023
1020	-1.04	-146.0	111.5	-11.2	163	1024	0.00	2.22	0.00	0.000	4	0.000	0.058	2201	937	3024
1075	-0.96	-146.0	118.0	-11.7	165	1080	0.12	2.28	0.00	0.000	6	0.184	0.055	2231	2348	3024
1396	-1.05	-146.0	150.5	-10.0	181	1400	0.00	2.30	0.00	0.000	4	0.000	0.072	2231	3745	3024
1535	-1.19	-146.0	165.1	-10.1	187	1540	0.20	2.20	0.00	0.000	6	0.094	0.042	2162	2333	3024
1862	-1.08	-146.0	204.9	-11.8	203	1866	0.15	2.22	0.00	0.000	4	0.178	0.059	2200	938	3023
1900	-1.08	-146.0	209.2	-10.6	204	1907	0.00	2.28	0.00	0.000	6	0.000	0.054	2200	2341	3023
2215	-1.08	-146.0	238.2	-9.2	220	2219	0.00	2.30	0.00	0.000	4	0.000	0.071	2200	3743	3023
2294	-1.15	-146.0	245.4	-9.1	223	2298	0.00	2.20	0.00	0.000	6	0.000	0.044	2200	2339	3023
2614	-1.21	-146.0	272.4	-8.6	239	2616	0.12	0.00	0.00	0.000	6	0.103	0.000	2159	2338	3023
2923	-1.14	-146.0	304.0	-10.0	254	2925	0.12	0.00	0.00	0.000	6	0.189	0.000	2188	2339	3022
3233	-1.14	-146.0	332.1	-8.7	269	3236	0.00	2.35	0.00	0.000	4	0.000	0.074	2188	3753	3022
3277	-1.19	-146.0	336.1	-9.1	271	3281	0.00	2.22	0.00	0.000	6	0.000	0.044	2188	2326	3022
3609	-1.24	-146.0	363.2	-8.0	287	3611	0.10	0.00	0.00	0.000	6	0.110	0.000	2153	2326	3022
3919	-1.19	-146.0	391.6	-9.5	302	3923	0.10	2.38	0.00	0.000	4	0.188	0.074	2175	3746	3022
3962	-1.19	-146.0	395.6	-8.7	304	3966	0.00	2.22	0.00	0.000	6	0.000	0.044	2175	2342	3022
4305	-1.19	-146.0	425.4	-8.7	314	4309	0.00	2.22	0.00	0.000	4	0.000	0.058	2175	934	3022
4376	-1.19	-146.0	432.0	-9.2	315	4381	0.00	2.28	0.00	0.000	6	0.000	0.057	2175	2333	3022
4719	-1.23	-146.0	461.3	-8.7	324	4720	0.00	0.00	0.00	0.000	6	0.000	0.000	2175	2334	3022
4962	end dive: TARGET_DEPTH_EXCEEDED
state	4962	begin apogee
4967	-0.34	0.0	481.6	9.0	330	5096	0.62	0.00	125.53	1.241	6	0.153	0.000	2365	2528	2420
5096	end apogee: CONTROL_FINISHED_OK
state	5097	begin climb
5098	1.38	146.0	485.2	0.0	333	5236	1.25	2.67	128.27	1.147	4	0.110	0.070	2734	3927	1823
5287	1.09	146.0	466.8	13.7	337	5292	0.25	2.42	0.00	0.000	6	0.156	0.043	2671	2516	1821
5628	1.09	146.0	434.1	9.0	346	5632	0.00	2.45	0.00	0.000	4	0.000	0.071	2671	3927	1820
5655	1.04	146.0	431.3	10.2	346	5659	0.00	2.30	0.00	0.000	6	0.000	0.043	2674	2515	1820
5991	1.04	146.0	399.9	9.5	355	5995	0.00	2.28	0.00	0.000	4	0.000	0.058	2674	1111	1821
6019	1.09	146.0	397.3	9.2	356	6023	0.00	2.30	0.00	0.000	6	0.000	0.052	2674	2522	1821
6345	1.09	146.0	368.1	9.0	372	6348	0.00	2.33	0.00	0.000	4	0.000	0.069	2673	3934	1820
6439	0.99	146.0	357.9	10.9	376	6444	0.10	2.25	0.00	0.000	6	0.168	0.043	2650	2507	1819
6766	1.10	146.0	330.4	8.2	392	6768	0.10	0.00	0.00	0.000	6	0.098	0.000	2688	2506	1820
7074	1.10	146.0	301.6	8.9	407	7076	0.00	0.00	0.00	0.000	6	0.000	0.000	2688	2506	1820
7384	1.10	146.0	275.1	8.6	422	7388	0.00	2.35	0.00	0.000	4	0.000	0.070	2688	3930	1819
7466	0.97	146.0	266.8	11.2	425	7474	0.17	2.22	0.00	0.000	6	0.159	0.044	2641	2509	1820
7782	1.14	146.0	242.1	7.9	441	7786	0.15	2.22	0.00	0.000	4	0.094	0.057	2696	1109	1820
7797	1.26	146.0	240.7	8.2	441	7804	0.00	2.25	0.00	0.000	6	0.000	0.051	2696	2524	1820
8112	1.26	146.0	212.6	8.3	457	8116	0.00	2.28	0.00	0.000	4	0.000	0.069	2696	3926	1820
8166	1.13	146.0	207.5	9.9	459	8171	0.00	2.22	0.00	0.000	6	0.000	0.044	2702	2519	1821
8487	1.13	146.0	181.5	8.5	475	8491	0.00	2.33	0.00	0.000	4	0.000	0.071	2702	3927	1821
8555	1.01	146.0	174.9	10.2	478	8559	0.17	2.20	0.00	0.000	6	0.156	0.044	2654	2518	1821
8886	1.16	146.0	150.8	7.1	494	8890	0.12	2.22	0.00	0.000	4	0.095	0.057	2703	1114	1820
8918	1.16	146.0	148.2	7.7	495	8922	0.00	2.28	0.00	0.000	6	0.000	0.052	2702	2542	1820
9239	1.17	152.8	124.4	6.6	511	9250	0.00	2.33	6.47	0.943	4	0.000	0.071	2702	3933	1796
9288	1.07	152.8	120.7	8.2	513	9293	0.15	2.22	0.00	0.000	6	0.160	0.044	2663	2513	1796
9609	1.25	168.7	103.3	6.1	529	9630	0.15	0.00	14.43	1.054	6	0.087	0.000	2719	2512	1732
9962	1.25	168.7	72.3	8.3	584	9968	0.00	2.38	0.00	0.000	4	0.000	0.074	2719	3925	1730
10008	1.16	168.7	67.8	10.0	592	10015	0.12	2.22	0.00	0.000	6	0.168	0.046	2687	2519	1729
10353	1.30	193.1	43.9	5.7	653	10383	0.12	2.35	20.58	1.045	4	0.091	0.060	2732	1114	1631
10400	1.32	202.3	40.9	6.5	661	10414	0.00	2.30	8.95	0.926	6	0.000	0.054	2733	2518	1595
10752	1.42	202.3	14.4	7.1	723	10758	0.00	2.30	0.00	0.000	4	0.000	0.058	2733	1112	1592
10922	1.60	235.0	4.1	5.2	753	10954	0.17	2.30	25.90	1.014	2	0.085	0.054	2797	2534	1464
10955	end climb: SURFACE_DEPTH_REACHED
state	10955	begin surface coast
10982	end surface coast: CONTROL_FINISHED_OK
state	10982	begin surface