Glider dive log

DavisStrait Sep08 * SG113 * Dive index * Mission links * Dive 20 * 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 20 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 30 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 -22433.641 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 -22433.641

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 30 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 20 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 183808,6641.220,-6035.268,29,1.2,29,-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 0.000,0.000

_SM_DEPTHo 1.18 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -65.3 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 184315,6641.198,-6035.239,13,1.2,13,-38.0 MHEAD_RNG_PITCHd_Wd 291.9,5876,-14.7,-8.010

SPEED_LIMITS 0.139,0.238 D_GRID 501

Post-dive calculations and measurements:

FINISH 0.3,1.006380 XPDR_PINGS 0

SM_CCo 11093,0.00,0.000,0,0,1039,409.41 _24V_AH 21.7,10.938

SM_GC 1.38,7.68,0.00,0.00,0.087,0.000,0.000,164,2322,1039,-10.39,-0.23,409.41 _10V_AH 10.6,3.128

RAFOS_CLK 620 DATA_FILE_SIZE 44078,1185

RAFOS 0,1220817851,20.083334,20.069723,62,55,55,52,51,49,208,191,134,168,217,806 CAP_FILE_SIZE 116104,0

RAFOS_FIX 6735.803223,-5832.086914,070908,202040,4,65,23.30 CFSIZE 260165632,250646528

IRIDIUM_FIX 6614.97,-6036.17,021297,151527 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TT8_MAMPS 0.027612 SOUNDSPEED 1451.1

HUMID 1945 CURRENT 0.065,264.1,1

INTERNAL_PRESSURE 8.51595 GPS 070908,215038,6640.890,-6040.003,35,0.9,35,-38.0

TCM_TEMP 15.40

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 274 122.89 SBE_CT 920 24 479.28

Roll_motor 101 86 191.04 SBE_O2 807 19 332.90

VBD_pump_during_apogee 482 1291 13534.88 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 29 103 65.10 nil 0 0 0.00

Iridium_during_connect 37 160 130.47 nil 0 0 0.00

Iridium_during_xfer 138 223 668.68

Transponder_ping 0 420 0.00

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 14 50 7.69

TT8 2088 19 441.02

LPSleep 6537 2 160.08

TT8_Active 584 19 123.36

TT8_Sampling 1911 39 808.87

TT8_CF8 330 45 160.83

TT8_Kalman 0 0 0.00

Analog_circuits 1599 12 203.46

GPS_charging 0 0 0.00

Compass 1891 8 160.36

RAFOS 1800 1 28.62

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 0 128 0.00 0.00 -109.90 0.000 2 0.000 0.000 164 2314 2779

130 -1.20 -146.0 3.3 -4.4 18 164 8.65 2.47 -15.45 0.000 4 0.275 0.087 2165 3739 3307

383 -0.96 -146.0 51.9 -15.4 62 391 0.22 2.25 0.00 0.000 6 0.181 0.046 2225 2329 3312

728 -0.91 -146.0 95.4 -12.3 123 734 0.00 2.25 0.00 0.000 4 0.000 0.058 2224 919 3315

774 -0.85 -146.0 101.3 -12.6 131 779 0.12 2.28 0.00 0.000 6 0.188 0.055 2256 2332 3315

1097 -0.96 -146.0 133.4 -9.0 161 1102 0.12 2.30 0.00 0.000 4 0.113 0.073 2215 3736 3315

1158 -0.96 -146.0 139.7 -10.9 166 1162 0.00 2.22 0.00 0.000 6 0.000 0.045 2215 2317 3315

1488 -0.96 -146.0 175.4 -10.4 197 1492 0.00 2.22 0.00 0.000 4 0.000 0.060 2215 912 3315

1532 -0.96 -146.0 180.5 -11.0 201 1536 0.00 2.28 0.00 0.000 6 0.000 0.055 2215 2337 3315

1862 -0.96 -146.0 213.5 -9.6 232 1866 0.00 2.30 0.00 0.000 4 0.000 0.075 2215 3745 3314

1911 -1.04 -146.0 218.4 -9.5 236 1918 0.00 2.25 0.00 0.000 6 0.000 0.046 2215 2324 3314

2237 -1.04 -146.0 248.1 -9.7 267 2238 0.00 0.00 0.00 0.000 6 0.000 0.000 2215 2324 3313

2555 -1.10 -146.0 278.6 -9.6 297 2559 0.00 2.35 0.00 0.000 4 0.000 0.079 2216 3740 3313

2645 -1.20 -146.0 287.7 -9.7 305 2649 0.15 2.20 0.00 0.000 6 0.110 0.047 2164 2329 3312

2974 -1.09 -146.0 326.6 -11.4 336 2978 0.15 2.33 0.00 0.000 4 0.179 0.075 2201 3739 3312

3013 -1.17 -146.0 330.5 -10.0 339 3017 0.00 2.20 0.00 0.000 6 0.000 0.046 2202 2323 3312

3343 -1.17 -146.0 359.8 -9.0 370 3346 0.00 2.20 0.00 0.000 4 0.000 0.061 2201 922 3311

3380 -1.17 -146.0 363.3 -9.4 373 3387 0.00 2.25 0.00 0.000 6 0.000 0.056 2201 2325 3311

3708 -1.22 -146.0 392.7 -9.3 404 3709 0.12 0.00 0.00 0.000 6 0.113 0.000 2161 2325 3311

4024 -1.15 -146.0 427.6 -10.8 434 4029 0.12 2.30 0.00 0.000 4 0.179 0.074 2191 3743 3311

4135 -1.23 -146.0 437.8 -9.3 443 4141 0.00 2.20 0.00 0.000 6 0.000 0.045 2191 2318 3311

4459 -1.23 -146.0 467.9 -9.8 474 4460 0.00 0.00 0.00 0.000 6 0.000 0.000 2190 2318 3311

4777 -1.23 -146.0 497.1 -8.8 504 4781 0.00 2.33 0.00 0.000 4 0.000 0.075 2191 3740 3311

4820 end dive: TARGET_DEPTH_EXCEEDED

state 4820 begin apogee

4826 -0.34 0.0 501.3 9.4 508 4954 0.55 0.00 124.85 1.292 6 0.159 0.000 2361 2566 2708

4955 end apogee: CONTROL_FINISHED_OK

state 4955 begin climb

4957 1.20 146.0 506.1 0.0 521 5096 1.10 2.72 129.90 1.200 4 0.116 0.074 2692 3931 2112

5215 0.79 146.0 487.6 11.7 544 5220 0.35 2.30 0.00 0.000 6 0.166 0.044 2607 2579 2110

5538 0.84 183.8 466.2 6.6 574 5576 0.00 2.47 32.42 1.200 4 0.000 0.058 2607 1161 1958

5582 0.89 224.4 463.3 6.5 578 5629 0.10 2.47 36.22 1.164 6 0.104 0.054 2639 2577 1793

5945 0.85 224.4 433.1 8.3 612 5946 0.00 0.00 0.00 0.000 6 0.000 0.000 2639 2578 1791

6263 0.85 224.4 407.3 8.5 642 6267 0.00 2.30 0.00 0.000 4 0.000 0.074 2640 3941 1791

6274 0.79 224.4 406.3 8.8 643 6279 0.12 2.20 0.00 0.000 6 0.170 0.043 2609 2572 1791

6599 0.89 237.9 381.6 7.5 673 6620 0.00 2.38 12.32 1.135 4 0.000 0.057 2609 1166 1738

6631 1.04 270.2 379.2 6.8 676 6667 0.17 2.38 28.10 1.169 6 0.087 0.055 2669 2594 1606

6981 0.97 270.2 344.1 10.3 709 6986 0.10 2.35 0.00 0.000 4 0.159 0.058 2646 1176 1604

7019 1.03 270.2 340.5 8.7 712 7024 0.00 2.33 0.00 0.000 6 0.000 0.054 2645 2586 1604

7344 1.03 270.2 311.1 9.0 742 7347 0.00 2.30 0.00 0.000 4 0.000 0.058 2646 1176 1604

7355 1.03 270.2 310.1 8.7 743 7359 0.00 2.30 0.00 0.000 6 0.000 0.054 2646 2590 1603

7678 1.03 270.2 283.3 8.3 773 7679 0.00 0.00 0.00 0.000 6 0.000 0.000 2646 2590 1604

7997 1.04 276.2 257.8 7.8 803 8010 0.00 2.33 6.25 0.973 4 0.000 0.058 2645 1162 1581

8021 1.11 288.1 256.0 7.6 805 8038 0.12 2.30 11.38 1.081 6 0.103 0.054 2691 2582 1533

8356 1.02 288.1 224.2 9.5 836 8360 0.12 2.25 0.00 0.000 4 0.158 0.072 2658 3945 1531

8365 0.95 288.1 223.2 9.7 836 8371 0.00 2.17 0.00 0.000 6 0.000 0.043 2658 2583 1531

8690 0.97 299.7 197.6 7.6 867 8706 0.00 2.30 10.75 1.071 4 0.000 0.058 2658 1163 1485

8733 1.06 299.7 194.3 8.1 870 8742 0.00 2.35 0.00 0.000 6 0.000 0.054 2658 2580 1485

9059 1.17 338.4 171.1 6.5 901 9098 0.12 2.42 32.35 1.124 4 0.099 0.058 2703 1179 1328

9126 1.17 338.4 164.9 9.7 907 9130 0.00 2.35 0.00 0.000 6 0.000 0.055 2703 2581 1326

9450 1.17 338.4 133.0 9.5 937 9451 0.00 0.00 0.00 0.000 6 0.000 0.000 2703 2581 1324

9769 1.17 338.4 102.0 10.2 967 9770 0.00 0.00 0.00 0.000 6 0.000 0.000 2703 2581 1323

10104 1.17 338.4 69.1 8.3 1025 10110 0.00 2.25 0.00 0.000 4 0.000 0.076 2703 3950 1323

10139 1.11 338.4 66.0 9.1 1031 10146 0.12 2.15 0.00 0.000 6 0.169 0.046 2670 2579 1323

10483 1.28 368.0 40.7 6.9 1092 10510 0.15 0.00 24.65 1.089 6 0.097 0.000 2722 2579 1207

10848 1.46 401.2 14.1 6.7 1156 10881 0.12 2.42 27.55 1.058 4 0.097 0.061 2771 1170 1072

10961 1.47 408.1 4.9 7.7 1175 10973 0.00 2.35 6.15 0.861 6 0.000 0.057 2771 2580 1044

10994 end climb: SURFACE_DEPTH_REACHED

state 10994 begin surface coast

11018 end surface coast: CONTROL_FINISHED_OK

state 11018 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	20	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	30	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	-22433.641	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	183808,6641.220,-6035.268,29,1.2,29,-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	0.000,0.000
_SM_DEPTHo	1.18	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-65.3	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	184315,6641.198,-6035.239,13,1.2,13,-38.0	MHEAD_RNG_PITCHd_Wd	291.9,5876,-14.7,-8.010
SPEED_LIMITS	0.139,0.238	D_GRID	501

FINISH	0.3,1.006380	XPDR_PINGS	0
SM_CCo	11093,0.00,0.000,0,0,1039,409.41	_24V_AH	21.7,10.938
SM_GC	1.38,7.68,0.00,0.00,0.087,0.000,0.000,164,2322,1039,-10.39,-0.23,409.41	_10V_AH	10.6,3.128
RAFOS_CLK	620	DATA_FILE_SIZE	44078,1185
RAFOS	0,1220817851,20.083334,20.069723,62,55,55,52,51,49,208,191,134,168,217,806	CAP_FILE_SIZE	116104,0
RAFOS_FIX	6735.803223,-5832.086914,070908,202040,4,65,23.30	CFSIZE	260165632,250646528
IRIDIUM_FIX	6614.97,-6036.17,021297,151527	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TT8_MAMPS	0.027612	SOUNDSPEED	1451.1
HUMID	1945	CURRENT	0.065,264.1,1
INTERNAL_PRESSURE	8.51595	GPS	070908,215038,6640.890,-6040.003,35,0.9,35,-38.0
TCM_TEMP	15.40

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	274	122.89	SBE_CT	920	24	479.28
Roll_motor	101	86	191.04	SBE_O2	807	19	332.90
VBD_pump_during_apogee	482	1291	13534.88	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	29	103	65.10	nil	0	0	0.00
Iridium_during_connect	37	160	130.47	nil	0	0	0.00
Iridium_during_xfer	138	223	668.68
Transponder_ping	0	420	0.00
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	14	50	7.69
TT8	2088	19	441.02
LPSleep	6537	2	160.08
TT8_Active	584	19	123.36
TT8_Sampling	1911	39	808.87
TT8_CF8	330	45	160.83
TT8_Kalman	0	0	0.00
Analog_circuits	1599	12	203.46
GPS_charging	0	0	0.00
Compass	1891	8	160.36
RAFOS	1800	1	28.62
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	128	0.00	0.00	-109.90	0.000	2	0.000	0.000	164	2314	2779
130	-1.20	-146.0	3.3	-4.4	18	164	8.65	2.47	-15.45	0.000	4	0.275	0.087	2165	3739	3307
383	-0.96	-146.0	51.9	-15.4	62	391	0.22	2.25	0.00	0.000	6	0.181	0.046	2225	2329	3312
728	-0.91	-146.0	95.4	-12.3	123	734	0.00	2.25	0.00	0.000	4	0.000	0.058	2224	919	3315
774	-0.85	-146.0	101.3	-12.6	131	779	0.12	2.28	0.00	0.000	6	0.188	0.055	2256	2332	3315
1097	-0.96	-146.0	133.4	-9.0	161	1102	0.12	2.30	0.00	0.000	4	0.113	0.073	2215	3736	3315
1158	-0.96	-146.0	139.7	-10.9	166	1162	0.00	2.22	0.00	0.000	6	0.000	0.045	2215	2317	3315
1488	-0.96	-146.0	175.4	-10.4	197	1492	0.00	2.22	0.00	0.000	4	0.000	0.060	2215	912	3315
1532	-0.96	-146.0	180.5	-11.0	201	1536	0.00	2.28	0.00	0.000	6	0.000	0.055	2215	2337	3315
1862	-0.96	-146.0	213.5	-9.6	232	1866	0.00	2.30	0.00	0.000	4	0.000	0.075	2215	3745	3314
1911	-1.04	-146.0	218.4	-9.5	236	1918	0.00	2.25	0.00	0.000	6	0.000	0.046	2215	2324	3314
2237	-1.04	-146.0	248.1	-9.7	267	2238	0.00	0.00	0.00	0.000	6	0.000	0.000	2215	2324	3313
2555	-1.10	-146.0	278.6	-9.6	297	2559	0.00	2.35	0.00	0.000	4	0.000	0.079	2216	3740	3313
2645	-1.20	-146.0	287.7	-9.7	305	2649	0.15	2.20	0.00	0.000	6	0.110	0.047	2164	2329	3312
2974	-1.09	-146.0	326.6	-11.4	336	2978	0.15	2.33	0.00	0.000	4	0.179	0.075	2201	3739	3312
3013	-1.17	-146.0	330.5	-10.0	339	3017	0.00	2.20	0.00	0.000	6	0.000	0.046	2202	2323	3312
3343	-1.17	-146.0	359.8	-9.0	370	3346	0.00	2.20	0.00	0.000	4	0.000	0.061	2201	922	3311
3380	-1.17	-146.0	363.3	-9.4	373	3387	0.00	2.25	0.00	0.000	6	0.000	0.056	2201	2325	3311
3708	-1.22	-146.0	392.7	-9.3	404	3709	0.12	0.00	0.00	0.000	6	0.113	0.000	2161	2325	3311
4024	-1.15	-146.0	427.6	-10.8	434	4029	0.12	2.30	0.00	0.000	4	0.179	0.074	2191	3743	3311
4135	-1.23	-146.0	437.8	-9.3	443	4141	0.00	2.20	0.00	0.000	6	0.000	0.045	2191	2318	3311
4459	-1.23	-146.0	467.9	-9.8	474	4460	0.00	0.00	0.00	0.000	6	0.000	0.000	2190	2318	3311
4777	-1.23	-146.0	497.1	-8.8	504	4781	0.00	2.33	0.00	0.000	4	0.000	0.075	2191	3740	3311
4820	end dive: TARGET_DEPTH_EXCEEDED
state	4820	begin apogee
4826	-0.34	0.0	501.3	9.4	508	4954	0.55	0.00	124.85	1.292	6	0.159	0.000	2361	2566	2708
4955	end apogee: CONTROL_FINISHED_OK
state	4955	begin climb
4957	1.20	146.0	506.1	0.0	521	5096	1.10	2.72	129.90	1.200	4	0.116	0.074	2692	3931	2112
5215	0.79	146.0	487.6	11.7	544	5220	0.35	2.30	0.00	0.000	6	0.166	0.044	2607	2579	2110
5538	0.84	183.8	466.2	6.6	574	5576	0.00	2.47	32.42	1.200	4	0.000	0.058	2607	1161	1958
5582	0.89	224.4	463.3	6.5	578	5629	0.10	2.47	36.22	1.164	6	0.104	0.054	2639	2577	1793
5945	0.85	224.4	433.1	8.3	612	5946	0.00	0.00	0.00	0.000	6	0.000	0.000	2639	2578	1791
6263	0.85	224.4	407.3	8.5	642	6267	0.00	2.30	0.00	0.000	4	0.000	0.074	2640	3941	1791
6274	0.79	224.4	406.3	8.8	643	6279	0.12	2.20	0.00	0.000	6	0.170	0.043	2609	2572	1791
6599	0.89	237.9	381.6	7.5	673	6620	0.00	2.38	12.32	1.135	4	0.000	0.057	2609	1166	1738
6631	1.04	270.2	379.2	6.8	676	6667	0.17	2.38	28.10	1.169	6	0.087	0.055	2669	2594	1606
6981	0.97	270.2	344.1	10.3	709	6986	0.10	2.35	0.00	0.000	4	0.159	0.058	2646	1176	1604
7019	1.03	270.2	340.5	8.7	712	7024	0.00	2.33	0.00	0.000	6	0.000	0.054	2645	2586	1604
7344	1.03	270.2	311.1	9.0	742	7347	0.00	2.30	0.00	0.000	4	0.000	0.058	2646	1176	1604
7355	1.03	270.2	310.1	8.7	743	7359	0.00	2.30	0.00	0.000	6	0.000	0.054	2646	2590	1603
7678	1.03	270.2	283.3	8.3	773	7679	0.00	0.00	0.00	0.000	6	0.000	0.000	2646	2590	1604
7997	1.04	276.2	257.8	7.8	803	8010	0.00	2.33	6.25	0.973	4	0.000	0.058	2645	1162	1581
8021	1.11	288.1	256.0	7.6	805	8038	0.12	2.30	11.38	1.081	6	0.103	0.054	2691	2582	1533
8356	1.02	288.1	224.2	9.5	836	8360	0.12	2.25	0.00	0.000	4	0.158	0.072	2658	3945	1531
8365	0.95	288.1	223.2	9.7	836	8371	0.00	2.17	0.00	0.000	6	0.000	0.043	2658	2583	1531
8690	0.97	299.7	197.6	7.6	867	8706	0.00	2.30	10.75	1.071	4	0.000	0.058	2658	1163	1485
8733	1.06	299.7	194.3	8.1	870	8742	0.00	2.35	0.00	0.000	6	0.000	0.054	2658	2580	1485
9059	1.17	338.4	171.1	6.5	901	9098	0.12	2.42	32.35	1.124	4	0.099	0.058	2703	1179	1328
9126	1.17	338.4	164.9	9.7	907	9130	0.00	2.35	0.00	0.000	6	0.000	0.055	2703	2581	1326
9450	1.17	338.4	133.0	9.5	937	9451	0.00	0.00	0.00	0.000	6	0.000	0.000	2703	2581	1324
9769	1.17	338.4	102.0	10.2	967	9770	0.00	0.00	0.00	0.000	6	0.000	0.000	2703	2581	1323
10104	1.17	338.4	69.1	8.3	1025	10110	0.00	2.25	0.00	0.000	4	0.000	0.076	2703	3950	1323
10139	1.11	338.4	66.0	9.1	1031	10146	0.12	2.15	0.00	0.000	6	0.169	0.046	2670	2579	1323
10483	1.28	368.0	40.7	6.9	1092	10510	0.15	0.00	24.65	1.089	6	0.097	0.000	2722	2579	1207
10848	1.46	401.2	14.1	6.7	1156	10881	0.12	2.42	27.55	1.058	4	0.097	0.061	2771	1170	1072
10961	1.47	408.1	4.9	7.7	1175	10973	0.00	2.35	6.15	0.861	6	0.000	0.057	2771	2580	1044
10994	end climb: SURFACE_DEPTH_REACHED
state	10994	begin surface coast
11018	end surface coast: CONTROL_FINISHED_OK
state	11018	begin surface