Glider dive log

DavisStrait Sep08 * SG113 * Dive index * Mission links * Dive 18 * 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 18 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 2330 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LON -158.3 C_ROLL_CLIMB 2580 ALTIM_PULSE 3

D_ABORT 1090 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 3

D_NO_BLEED 50 SM_CC 375 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 31 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 22 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 412 UPLOAD_DIVES_MAX -1 VBD_MIN 144 DEVICE2 20

T_MISSION 470 CALL_TRIES 5 VBD_MAX 3700 DEVICE3 -1

T_ABORT 1440 CALL_WAIT 60 C_VBD 2708 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 -22402.764 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 60 CF8_MAXERRORS 0 RAFOS_DEVICE 32

MAX_BUOY 150 RAFOS_HIT_WINDOW 3600 AH0_24V 91.800003 XPDR_DEVICE 24

COURSE_BIAS 0 PITCH_MIN 171 AH0_10V 61.200001 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 2 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 2 PITCH_TIMEOUT 20 COMPASS_USE 0 SEABIRD_C_H 1.1390046

HD_A 0.0034169999 PITCH_AD_RATE 150 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_I -0.00057758979

HD_B 0.0095870001 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 61.200001 D_FLARE 3 PITCH_CNV 0.0046000001 SMARTS 0

AH0_24V 91.800003 D_NO_BLEED 50 PITCH_DBAND 0.1 SM_CC 375

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 60 T_ABORT 1440

APOGEE_PITCH -5 GLIDE_SLOPE 30 RAFOS_DEVICE 32 T_DIVE 412

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_GPS 15

CALL_TRIES 5 HD_A 0.0034169999 RAFOS_PEAK_OFFSET 1.5 T_GPS_ALMANAC 0

CALL_WAIT 60 HD_B 0.0095870001 RELAUNCH 1 T_GPS_CHARGE -22402.764

CAPMAXSIZE 100000 HD_C 3.1312e-05 RHO 1.02765 T_MISSION 470

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 2 ROLL_MIN 280 USE_BATHY -2

C_ROLL_CLIMB 2580 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 2330 MASS 51576 R_PORT_OVSHOOT 31 VBD_BLEED_AD_RATE 8

C_VBD 2708 MAX_BUOY 150 R_STBD_OVSHOOT 22 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 2 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 18 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 120428,6638.193,-6029.919,27,4.5,46,-37.9 TGT_NAME TARGET_W_IN

_CALLS 2 TGT_LATLONG 6642.000,-6043.000

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.15 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -63.9 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 121117,6638.193,-6029.997,8,2.9,27,-37.9 MHEAD_RNG_PITCHd_Wd 16.3,11850,-14.7,-8.010

SPEED_LIMITS 0.139,0.238 D_GRID 496

Post-dive calculations and measurements:

FINISH 0.4,1.024837 XPDR_PINGS 0

SM_CCo 11176,8.05,0.934,0,0,1179,375.06 _24V_AH 21.7,10.601

SM_GC 1.92,0.00,0.00,8.05,0.000,0.000,0.934,167,2342,1179,-10.44,0.34,375.06 _10V_AH 10.6,2.993

RAFOS_CLK 626 DATA_FILE_SIZE 44107,1209

RAFOS 1,1220789649,12.250000,12.235833,61,61,61,54,54,51,137,165,202,183,155,114 CAP_FILE_SIZE 116597,0

RAFOS_FIX 6554.597168,-5821.973145,070908,121248,4,62,120.03 CFSIZE 260165632,250777600

IRIDIUM_FIX 6609.62,-6031.45,021297,121242 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TT8_MAMPS 0.027612 SOUNDSPEED 1451.5

HUMID 1932 CURRENT 0.010,323.3,1

INTERNAL_PRESSURE 8.53548 GPS 070908,152008,6639.688,-6031.222,31,1.0,31,-38.0

TCM_TEMP 15.50

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 19 269 114.21 SBE_CT 944 24 491.71

Roll_motor 118 85 221.78 SBE_O2 823 19 339.54

VBD_pump_during_apogee 444 1292 12477.21 nil 0 0 0.00

VBD_pump_during_surface 8 934 163.19 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 60 103 135.72 nil 0 0 0.00

Iridium_during_connect 51 160 180.54 nil 0 0 0.00

Iridium_during_xfer 121 223 588.80

Transponder_ping 0 420 0.00

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 30 50 16.06

TT8 2129 19 449.67

LPSleep 6589 2 161.35

TT8_Active 601 19 127.03

TT8_Sampling 1952 39 826.37

TT8_CF8 377 45 183.62

TT8_Kalman 0 0 0.00

Analog_circuits 1632 12 207.66

GPS_charging 0 0 0.00

Compass 1921 8 162.98

RAFOS 1440 1 22.90

Transponder 0 30 0.17

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

15 -1.20 -146.0 0.0 0.0 0 141 0.00 0.00 -123.65 0.000 2 0.000 0.000 168 2296 2766

144 -1.20 -146.0 3.1 -3.8 20 179 8.50 2.50 -16.10 0.000 4 0.269 0.086 2172 3739 3307

359 -0.98 -146.0 48.6 -14.5 57 366 0.20 2.28 0.00 0.000 6 0.178 0.045 2225 2317 3312

702 -0.93 -146.0 89.2 -11.4 118 709 0.00 2.38 0.00 0.000 4 0.000 0.073 2225 3740 3315

758 -0.93 -146.0 95.9 -11.8 128 766 0.00 2.25 0.00 0.000 6 0.000 0.044 2225 2317 3315

1086 -0.93 -146.0 131.5 -10.5 162 1090 0.00 2.22 0.00 0.000 4 0.000 0.060 2225 918 3315

1130 -0.93 -146.0 136.2 -10.6 166 1134 0.00 2.28 0.00 0.000 6 0.000 0.056 2225 2334 3315

1461 -0.93 -146.0 169.1 -10.1 197 1465 0.00 2.30 0.00 0.000 4 0.000 0.076 2225 3736 3315

1544 -1.03 -146.0 178.0 -10.4 204 1548 0.00 2.20 0.00 0.000 6 0.000 0.045 2225 2329 3315

1874 -1.08 -146.0 212.3 -10.1 235 1879 0.10 2.22 0.00 0.000 4 0.123 0.060 2192 925 3314

1924 -1.01 -146.0 218.4 -13.0 239 1929 0.10 2.25 0.00 0.000 6 0.201 0.057 2214 2336 3314

2254 -1.01 -146.0 251.7 -10.2 270 2258 0.00 2.30 0.00 0.000 4 0.000 0.075 2214 3741 3313

2366 -1.11 -146.0 263.0 -9.8 280 2370 0.00 2.22 0.00 0.000 6 0.000 0.047 2214 2317 3313

2696 -1.17 -146.0 294.0 -9.3 311 2698 0.12 0.00 0.00 0.000 6 0.110 0.000 2173 2317 3312

3015 -1.10 -146.0 328.8 -10.7 341 3020 0.10 2.33 0.00 0.000 4 0.186 0.076 2192 3733 3312

3110 -1.14 -146.0 338.7 -9.6 349 3114 0.00 2.20 0.00 0.000 6 0.000 0.047 2193 2319 3312

3440 -1.14 -146.0 370.8 -9.7 380 3444 0.00 2.33 0.00 0.000 4 0.000 0.077 2192 3733 3311

3507 -1.19 -146.0 377.4 -9.7 386 3511 0.00 2.17 0.00 0.000 6 0.000 0.046 2193 2328 3311

3837 -1.19 -146.0 407.2 -8.8 417 3841 0.00 2.20 0.00 0.000 4 0.000 0.061 2192 925 3311

3908 -1.19 -146.0 413.7 -8.7 423 3915 0.00 2.25 0.00 0.000 6 0.000 0.057 2192 2326 3311

4233 -1.19 -146.0 441.6 -8.7 454 4237 0.00 2.30 0.00 0.000 4 0.000 0.076 2192 3745 3311

4334 -1.27 -146.0 450.6 -9.0 463 4339 0.12 2.20 0.00 0.000 6 0.117 0.045 2150 2322 3311

4658 -1.17 -146.0 486.7 -11.3 493 4663 0.12 2.20 0.00 0.000 4 0.184 0.059 2180 918 3311

4726 -1.17 -146.0 493.7 -10.3 499 4729 0.00 2.25 0.00 0.000 6 0.000 0.057 2180 2340 3311

4756 end dive: TARGET_DEPTH_EXCEEDED

state 4756 begin apogee

4760 -0.34 0.0 496.8 9.5 502 4891 0.60 0.00 124.88 1.292 6 0.168 0.000 2363 2579 2708

4891 end apogee: CONTROL_FINISHED_OK

state 4891 begin climb

4893 1.20 146.0 501.2 0.0 515 5031 1.10 2.67 129.55 1.200 4 0.117 0.074 2695 3936 2112

5037 0.85 146.0 495.3 8.2 527 5044 0.35 2.42 0.00 0.000 6 0.168 0.043 2618 2585 2111

5361 0.85 188.8 472.8 6.4 558 5406 0.00 2.55 37.00 1.193 4 0.000 0.077 2618 3931 1937

5422 0.79 200.4 468.6 7.6 563 5441 0.00 2.33 11.98 1.072 6 0.000 0.043 2620 2579 1890

5758 0.81 216.0 444.0 7.4 595 5780 0.00 2.50 14.27 1.137 4 0.000 0.077 2620 3938 1827

5803 0.73 216.0 440.6 8.2 599 5808 0.12 2.28 0.00 0.000 6 0.166 0.043 2591 2577 1826

6127 0.93 280.2 421.6 5.5 629 6190 0.17 0.00 55.10 1.200 6 0.088 0.000 2652 2578 1563

6505 0.93 280.2 389.5 8.6 665 6509 0.00 2.40 0.00 0.000 4 0.000 0.076 2652 3944 1561

6516 0.93 280.2 388.6 8.4 666 6520 0.00 2.25 0.00 0.000 6 0.000 0.043 2652 2574 1561

6846 0.93 280.2 361.2 8.2 697 6850 0.00 2.35 0.00 0.000 4 0.000 0.075 2652 3946 1560

6856 0.93 280.2 360.4 8.1 698 6861 0.00 2.22 0.00 0.000 6 0.000 0.043 2652 2579 1560

7187 0.93 280.2 333.1 8.4 729 7190 0.00 2.30 0.00 0.000 4 0.000 0.076 2652 3940 1560

7209 0.87 280.2 331.1 8.8 731 7214 0.12 2.17 0.00 0.000 6 0.168 0.044 2620 2568 1560

7539 1.03 309.5 308.0 6.9 762 7570 0.15 0.00 24.30 1.167 6 0.094 0.000 2674 2567 1446

7887 1.03 309.5 273.6 10.0 795 7888 0.00 0.00 0.00 0.000 6 0.000 0.000 2674 2568 1444

8206 1.03 309.5 241.6 10.4 825 8210 0.00 2.25 0.00 0.000 4 0.000 0.059 2675 1162 1444

8216 1.03 309.5 240.6 10.1 826 8220 0.00 2.30 0.00 0.000 6 0.000 0.054 2675 2582 1444

8546 1.03 309.5 211.3 8.2 857 8550 0.00 2.28 0.00 0.000 4 0.000 0.059 2675 1173 1444

8556 1.03 309.5 210.4 8.3 858 8560 0.00 2.28 0.00 0.000 6 0.000 0.054 2675 2588 1444

8886 1.03 309.5 182.8 8.8 889 8890 0.00 2.28 0.00 0.000 4 0.000 0.059 2675 1172 1444

8900 1.03 309.5 181.5 8.7 890 8909 0.00 2.28 0.00 0.000 6 0.000 0.054 2674 2574 1444

9227 1.03 309.5 152.9 8.7 921 9231 0.00 2.25 0.00 0.000 4 0.000 0.059 2675 1169 1444

9238 1.03 309.5 151.7 8.9 922 9242 0.00 2.28 0.00 0.000 6 0.000 0.055 2674 2593 1444

9568 1.03 309.5 123.5 8.4 953 9572 0.00 2.28 0.00 0.000 4 0.000 0.060 2675 1171 1444

9579 1.08 309.5 122.6 8.1 954 9582 0.00 2.25 0.00 0.000 6 0.000 0.057 2675 2579 1444

9906 1.13 309.5 96.2 8.2 988 9912 0.00 2.22 0.00 0.000 4 0.000 0.076 2675 3950 1444

9917 1.13 309.5 95.1 8.3 990 9925 0.00 2.15 0.00 0.000 6 0.000 0.044 2674 2565 1443

10263 1.22 321.7 68.1 7.5 1051 10282 0.10 2.30 11.25 1.061 4 0.109 0.075 2712 3937 1395

10288 1.22 321.7 65.9 8.4 1055 10294 0.00 2.15 0.00 0.000 6 0.000 0.046 2716 2578 1394

10631 1.23 328.7 36.8 7.7 1116 10644 0.00 2.30 7.10 0.965 4 0.000 0.077 2716 3940 1368

10650 1.23 328.7 35.3 8.0 1119 10656 0.00 2.17 0.00 0.000 6 0.000 0.046 2716 2569 1367

10993 1.38 364.0 11.6 6.7 1180 11030 0.00 2.35 29.48 1.070 4 0.000 0.060 2716 1162 1222

11142 end climb: SURFACE_DEPTH_REACHED

state 11142 begin surface coast

11159 end surface coast: CONTROL_FINISHED_OK

state 11159 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	18	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	2330	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LON	-158.3	C_ROLL_CLIMB	2580	ALTIM_PULSE	3
D_ABORT	1090	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	3
D_NO_BLEED	50	SM_CC	375	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	31	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	22	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	412	UPLOAD_DIVES_MAX	-1	VBD_MIN	144	DEVICE2	20
T_MISSION	470	CALL_TRIES	5	VBD_MAX	3700	DEVICE3	-1
T_ABORT	1440	CALL_WAIT	60	C_VBD	2708	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	-22402.764	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	60	CF8_MAXERRORS	0	RAFOS_DEVICE	32
MAX_BUOY	150	RAFOS_HIT_WINDOW	3600	AH0_24V	91.800003	XPDR_DEVICE	24
COURSE_BIAS	0	PITCH_MIN	171	AH0_10V	61.200001	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	2	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	2	PITCH_TIMEOUT	20	COMPASS_USE	0	SEABIRD_C_H	1.1390046
HD_A	0.0034169999	PITCH_AD_RATE	150	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_I	-0.00057758979
HD_B	0.0095870001	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	120428,6638.193,-6029.919,27,4.5,46,-37.9	TGT_NAME	TARGET_W_IN
_CALLS	2	TGT_LATLONG	6642.000,-6043.000
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.15	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-63.9	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	121117,6638.193,-6029.997,8,2.9,27,-37.9	MHEAD_RNG_PITCHd_Wd	16.3,11850,-14.7,-8.010
SPEED_LIMITS	0.139,0.238	D_GRID	496

FINISH	0.4,1.024837	XPDR_PINGS	0
SM_CCo	11176,8.05,0.934,0,0,1179,375.06	_24V_AH	21.7,10.601
SM_GC	1.92,0.00,0.00,8.05,0.000,0.000,0.934,167,2342,1179,-10.44,0.34,375.06	_10V_AH	10.6,2.993
RAFOS_CLK	626	DATA_FILE_SIZE	44107,1209
RAFOS	1,1220789649,12.250000,12.235833,61,61,61,54,54,51,137,165,202,183,155,114	CAP_FILE_SIZE	116597,0
RAFOS_FIX	6554.597168,-5821.973145,070908,121248,4,62,120.03	CFSIZE	260165632,250777600
IRIDIUM_FIX	6609.62,-6031.45,021297,121242	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TT8_MAMPS	0.027612	SOUNDSPEED	1451.5
HUMID	1932	CURRENT	0.010,323.3,1
INTERNAL_PRESSURE	8.53548	GPS	070908,152008,6639.688,-6031.222,31,1.0,31,-38.0
TCM_TEMP	15.50

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	19	269	114.21	SBE_CT	944	24	491.71
Roll_motor	118	85	221.78	SBE_O2	823	19	339.54
VBD_pump_during_apogee	444	1292	12477.21	nil	0	0	0.00
VBD_pump_during_surface	8	934	163.19	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	60	103	135.72	nil	0	0	0.00
Iridium_during_connect	51	160	180.54	nil	0	0	0.00
Iridium_during_xfer	121	223	588.80
Transponder_ping	0	420	0.00
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	30	50	16.06
TT8	2129	19	449.67
LPSleep	6589	2	161.35
TT8_Active	601	19	127.03
TT8_Sampling	1952	39	826.37
TT8_CF8	377	45	183.62
TT8_Kalman	0	0	0.00
Analog_circuits	1632	12	207.66
GPS_charging	0	0	0.00
Compass	1921	8	162.98
RAFOS	1440	1	22.90
Transponder	0	30	0.17

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
15	-1.20	-146.0	0.0	0.0	0	141	0.00	0.00	-123.65	0.000	2	0.000	0.000	168	2296	2766
144	-1.20	-146.0	3.1	-3.8	20	179	8.50	2.50	-16.10	0.000	4	0.269	0.086	2172	3739	3307
359	-0.98	-146.0	48.6	-14.5	57	366	0.20	2.28	0.00	0.000	6	0.178	0.045	2225	2317	3312
702	-0.93	-146.0	89.2	-11.4	118	709	0.00	2.38	0.00	0.000	4	0.000	0.073	2225	3740	3315
758	-0.93	-146.0	95.9	-11.8	128	766	0.00	2.25	0.00	0.000	6	0.000	0.044	2225	2317	3315
1086	-0.93	-146.0	131.5	-10.5	162	1090	0.00	2.22	0.00	0.000	4	0.000	0.060	2225	918	3315
1130	-0.93	-146.0	136.2	-10.6	166	1134	0.00	2.28	0.00	0.000	6	0.000	0.056	2225	2334	3315
1461	-0.93	-146.0	169.1	-10.1	197	1465	0.00	2.30	0.00	0.000	4	0.000	0.076	2225	3736	3315
1544	-1.03	-146.0	178.0	-10.4	204	1548	0.00	2.20	0.00	0.000	6	0.000	0.045	2225	2329	3315
1874	-1.08	-146.0	212.3	-10.1	235	1879	0.10	2.22	0.00	0.000	4	0.123	0.060	2192	925	3314
1924	-1.01	-146.0	218.4	-13.0	239	1929	0.10	2.25	0.00	0.000	6	0.201	0.057	2214	2336	3314
2254	-1.01	-146.0	251.7	-10.2	270	2258	0.00	2.30	0.00	0.000	4	0.000	0.075	2214	3741	3313
2366	-1.11	-146.0	263.0	-9.8	280	2370	0.00	2.22	0.00	0.000	6	0.000	0.047	2214	2317	3313
2696	-1.17	-146.0	294.0	-9.3	311	2698	0.12	0.00	0.00	0.000	6	0.110	0.000	2173	2317	3312
3015	-1.10	-146.0	328.8	-10.7	341	3020	0.10	2.33	0.00	0.000	4	0.186	0.076	2192	3733	3312
3110	-1.14	-146.0	338.7	-9.6	349	3114	0.00	2.20	0.00	0.000	6	0.000	0.047	2193	2319	3312
3440	-1.14	-146.0	370.8	-9.7	380	3444	0.00	2.33	0.00	0.000	4	0.000	0.077	2192	3733	3311
3507	-1.19	-146.0	377.4	-9.7	386	3511	0.00	2.17	0.00	0.000	6	0.000	0.046	2193	2328	3311
3837	-1.19	-146.0	407.2	-8.8	417	3841	0.00	2.20	0.00	0.000	4	0.000	0.061	2192	925	3311
3908	-1.19	-146.0	413.7	-8.7	423	3915	0.00	2.25	0.00	0.000	6	0.000	0.057	2192	2326	3311
4233	-1.19	-146.0	441.6	-8.7	454	4237	0.00	2.30	0.00	0.000	4	0.000	0.076	2192	3745	3311
4334	-1.27	-146.0	450.6	-9.0	463	4339	0.12	2.20	0.00	0.000	6	0.117	0.045	2150	2322	3311
4658	-1.17	-146.0	486.7	-11.3	493	4663	0.12	2.20	0.00	0.000	4	0.184	0.059	2180	918	3311
4726	-1.17	-146.0	493.7	-10.3	499	4729	0.00	2.25	0.00	0.000	6	0.000	0.057	2180	2340	3311
4756	end dive: TARGET_DEPTH_EXCEEDED
state	4756	begin apogee
4760	-0.34	0.0	496.8	9.5	502	4891	0.60	0.00	124.88	1.292	6	0.168	0.000	2363	2579	2708
4891	end apogee: CONTROL_FINISHED_OK
state	4891	begin climb
4893	1.20	146.0	501.2	0.0	515	5031	1.10	2.67	129.55	1.200	4	0.117	0.074	2695	3936	2112
5037	0.85	146.0	495.3	8.2	527	5044	0.35	2.42	0.00	0.000	6	0.168	0.043	2618	2585	2111
5361	0.85	188.8	472.8	6.4	558	5406	0.00	2.55	37.00	1.193	4	0.000	0.077	2618	3931	1937
5422	0.79	200.4	468.6	7.6	563	5441	0.00	2.33	11.98	1.072	6	0.000	0.043	2620	2579	1890
5758	0.81	216.0	444.0	7.4	595	5780	0.00	2.50	14.27	1.137	4	0.000	0.077	2620	3938	1827
5803	0.73	216.0	440.6	8.2	599	5808	0.12	2.28	0.00	0.000	6	0.166	0.043	2591	2577	1826
6127	0.93	280.2	421.6	5.5	629	6190	0.17	0.00	55.10	1.200	6	0.088	0.000	2652	2578	1563
6505	0.93	280.2	389.5	8.6	665	6509	0.00	2.40	0.00	0.000	4	0.000	0.076	2652	3944	1561
6516	0.93	280.2	388.6	8.4	666	6520	0.00	2.25	0.00	0.000	6	0.000	0.043	2652	2574	1561
6846	0.93	280.2	361.2	8.2	697	6850	0.00	2.35	0.00	0.000	4	0.000	0.075	2652	3946	1560
6856	0.93	280.2	360.4	8.1	698	6861	0.00	2.22	0.00	0.000	6	0.000	0.043	2652	2579	1560
7187	0.93	280.2	333.1	8.4	729	7190	0.00	2.30	0.00	0.000	4	0.000	0.076	2652	3940	1560
7209	0.87	280.2	331.1	8.8	731	7214	0.12	2.17	0.00	0.000	6	0.168	0.044	2620	2568	1560
7539	1.03	309.5	308.0	6.9	762	7570	0.15	0.00	24.30	1.167	6	0.094	0.000	2674	2567	1446
7887	1.03	309.5	273.6	10.0	795	7888	0.00	0.00	0.00	0.000	6	0.000	0.000	2674	2568	1444
8206	1.03	309.5	241.6	10.4	825	8210	0.00	2.25	0.00	0.000	4	0.000	0.059	2675	1162	1444
8216	1.03	309.5	240.6	10.1	826	8220	0.00	2.30	0.00	0.000	6	0.000	0.054	2675	2582	1444
8546	1.03	309.5	211.3	8.2	857	8550	0.00	2.28	0.00	0.000	4	0.000	0.059	2675	1173	1444
8556	1.03	309.5	210.4	8.3	858	8560	0.00	2.28	0.00	0.000	6	0.000	0.054	2675	2588	1444
8886	1.03	309.5	182.8	8.8	889	8890	0.00	2.28	0.00	0.000	4	0.000	0.059	2675	1172	1444
8900	1.03	309.5	181.5	8.7	890	8909	0.00	2.28	0.00	0.000	6	0.000	0.054	2674	2574	1444
9227	1.03	309.5	152.9	8.7	921	9231	0.00	2.25	0.00	0.000	4	0.000	0.059	2675	1169	1444
9238	1.03	309.5	151.7	8.9	922	9242	0.00	2.28	0.00	0.000	6	0.000	0.055	2674	2593	1444
9568	1.03	309.5	123.5	8.4	953	9572	0.00	2.28	0.00	0.000	4	0.000	0.060	2675	1171	1444
9579	1.08	309.5	122.6	8.1	954	9582	0.00	2.25	0.00	0.000	6	0.000	0.057	2675	2579	1444
9906	1.13	309.5	96.2	8.2	988	9912	0.00	2.22	0.00	0.000	4	0.000	0.076	2675	3950	1444
9917	1.13	309.5	95.1	8.3	990	9925	0.00	2.15	0.00	0.000	6	0.000	0.044	2674	2565	1443
10263	1.22	321.7	68.1	7.5	1051	10282	0.10	2.30	11.25	1.061	4	0.109	0.075	2712	3937	1395
10288	1.22	321.7	65.9	8.4	1055	10294	0.00	2.15	0.00	0.000	6	0.000	0.046	2716	2578	1394
10631	1.23	328.7	36.8	7.7	1116	10644	0.00	2.30	7.10	0.965	4	0.000	0.077	2716	3940	1368
10650	1.23	328.7	35.3	8.0	1119	10656	0.00	2.17	0.00	0.000	6	0.000	0.046	2716	2569	1367
10993	1.38	364.0	11.6	6.7	1180	11030	0.00	2.35	29.48	1.070	4	0.000	0.060	2716	1162	1222
11142	end climb: SURFACE_DEPTH_REACHED
state	11142	begin surface coast
11159	end surface coast: CONTROL_FINISHED_OK
state	11159	begin surface