Glider dive log

DavisStrait Sep08 * SG108 * Dive index * Mission links * Dive 327 * 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 327 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 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 -118268.59 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 -118268.59

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 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 327 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 082120,6625.746,-6030.967,0,2075.0,0,-37.9 TGT_NAME TARGET_W_IN

_CALLS 3 TGT_LATLONG 6642.000,-6043.000

_XMS_NAKs 0 TGT_RADIUS 8000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.223,0.069

_SM_DEPTHo 2.59 KALMAN_X 164160.8,-78588.9,8915.0,-221232.3,53229.6

_SM_ANGLEo -4.2 KALMAN_Y -266253.4,3720.9,-7885.0,217871.3,10993.2

GPS2 082120,6625.746,-6030.967,0,2075.0,0,-37.9 MHEAD_RNG_PITCHd_Wd 325.0,31367,-13.0,-7.021

SPEED_LIMITS 0.122,0.233 D_GRID 440

Post-dive calculations and measurements:

FREEZE 6.82,-1.741,-1.774 TCM_TEMP 15.00

FINISH1 6.8,1.026000,81 XPDR_PINGS 18

FINISH2 5.0 _24V_AH 22.3,57.325

RAFOS_CLK 557 _10V_AH 10.5,26.274

RAFOS 0,1227096246,12.083333,12.068334,96,80,53,51,50,48,539,193,219,151,120,232 DATA_FILE_SIZE 28419,851

RAFOS_FIX 6657.400391,-6008.229004,191108,121240,2,86,4.43 CAP_FILE_SIZE 99809,0

IRIDIUM_FIX 6614.97,-5912.45,100298,030321 CFSIZE 260165632,229498880

TT8_MAMPS 0.026845 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,0

HUMID 1822 SOUNDSPEED 1445.3

INTERNAL_PRESSURE 9.89296 GPS 191108,082120,6625.746,-6030.967,0,2075.0,0,-37.9

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 6 158 22.55 SBE_CT 596 24 319.07

Roll_motor 102 89 205.42 SBE_O2 0 0 0.00

VBD_pump_during_apogee 334 1152 8588.29 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 4 420 42.15

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 0 50 0.00

TT8 1545 19 323.32

LPSleep 8394 2 203.60

TT8_Active 443 19 92.76

TT8_Sampling 1595 39 668.60

TT8_CF8 165 45 79.83

TT8_Kalman 33 81 28.72

Analog_circuits 1280 12 161.30

GPS_charging 0 0 0.00

Compass 1583 8 133.02

RAFOS 1440 1 22.68

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

12 end surface: CONTROL_FINISHED_OK

state 12 begin dive

15 -0.99 -146.0 0.0 0.0 0 67 0.00 0.00 -47.58 0.000 6 0.000 0.000 2692 3158 3247

70 -0.99 -146.0 3.0 -3.1 9 77 0.65 0.70 0.00 0.000 4 0.095 0.084 2464 3596 3248

330 -0.80 -146.0 31.0 -11.6 55 337 0.17 2.17 0.00 0.000 6 0.153 0.054 2510 2215 3251

675 -0.80 -146.0 58.6 -7.4 116 680 0.00 0.00 0.00 0.000 6 0.000 0.000 2510 2215 3252

1017 -0.80 -146.0 86.3 -8.4 177 1023 0.00 2.30 0.00 0.000 4 0.000 0.081 2503 3597 3251

1098 -0.80 -146.0 93.7 -9.4 191 1104 0.00 2.17 0.00 0.000 6 0.000 0.054 2503 2213 3251

1435 -0.80 -146.0 125.4 -9.1 216 1439 0.00 2.22 0.00 0.000 4 0.000 0.067 2503 816 3251

1503 -0.80 -146.0 131.5 -9.3 219 1506 0.00 2.35 0.00 0.000 6 0.000 0.069 2493 2244 3251

1835 -0.80 -146.0 157.1 -7.3 235 1839 0.00 2.22 0.00 0.000 4 0.000 0.083 2482 3600 3251

1997 -0.80 -146.0 170.5 -8.1 242 2001 0.10 2.17 0.00 0.000 6 0.153 0.054 2507 2216 3251

2324 -0.86 -146.0 190.3 -5.1 258 2325 0.00 0.00 0.00 0.000 6 0.000 0.000 2507 2216 3251

2633 -0.93 -146.0 206.6 -5.6 273 2638 0.12 2.33 0.00 0.000 4 0.093 0.080 2447 3600 3250

2689 -0.79 -146.0 211.0 -8.0 275 2695 0.22 2.17 0.00 0.000 6 0.151 0.054 2511 2224 3250

3005 -0.87 -146.0 229.2 -5.8 291 3008 0.00 2.25 0.00 0.000 4 0.000 0.068 2511 819 3250

3083 -0.93 -146.0 234.2 -6.4 294 3088 0.10 2.35 0.00 0.000 6 0.090 0.069 2460 2243 3250

3399 -0.83 -146.0 258.6 -7.8 309 3404 0.15 2.25 0.00 0.000 4 0.158 0.081 2491 3609 3250

3483 -0.90 -146.0 264.7 -7.4 312 3490 0.00 2.20 0.00 0.000 6 0.000 0.055 2492 2222 3250

3799 -0.90 -146.0 285.2 -6.6 328 3803 0.00 2.25 0.00 0.000 4 0.000 0.068 2491 816 3250

3982 -0.90 -146.0 298.4 -6.9 336 3986 0.00 2.33 0.00 0.000 6 0.000 0.070 2482 2232 3249

4315 -0.90 -146.0 320.2 -6.3 352 4318 0.00 2.25 0.00 0.000 4 0.000 0.081 2471 3605 3249

4445 -0.90 -146.0 329.1 -6.9 357 4451 0.00 2.20 0.00 0.000 6 0.000 0.054 2471 2214 3249

4760 -0.90 -146.0 349.4 -6.4 373 4764 0.00 2.22 0.00 0.000 4 0.000 0.066 2471 818 3250

4959 -0.84 -146.0 363.6 -7.7 381 4966 0.15 2.35 0.00 0.000 6 0.140 0.073 2502 2232 3250

5277 -0.95 -146.0 382.8 -6.1 397 5281 0.12 2.25 0.00 0.000 4 0.089 0.079 2441 3602 3250

5355 -0.83 -146.0 389.4 -8.5 400 5359 0.20 2.17 0.00 0.000 6 0.151 0.052 2497 2218 3250

5696 -0.93 -146.0 410.8 -6.3 413 5699 0.00 2.22 0.00 0.000 4 0.000 0.064 2497 818 3250

5757 -0.99 -146.0 414.9 -7.0 414 5762 0.10 2.33 0.00 0.000 6 0.089 0.066 2447 2233 3250

6105 -0.89 -146.0 438.5 -6.4 423 6110 0.15 2.25 0.00 0.000 4 0.155 0.077 2478 3607 3251

6130 end dive: TARGET_DEPTH_EXCEEDED

state 6130 begin apogee

6139 -0.31 0.0 440.3 6.0 423 6265 0.40 0.00 123.20 1.152 6 0.128 0.000 2608 1739 2650

6266 end apogee: CONTROL_FINISHED_OK

state 6266 begin climb

6269 0.99 146.0 441.9 0.0 426 6406 0.90 2.67 129.30 1.071 4 0.098 0.070 2897 3155 2053

6412 0.74 146.0 429.5 10.7 430 6417 0.28 2.53 0.00 0.000 6 0.133 0.052 2836 1735 2051

6760 0.74 146.0 402.2 7.5 439 6761 0.00 0.00 0.00 0.000 6 0.000 0.000 2836 1735 2046

7069 0.74 151.8 380.1 6.8 453 7078 0.00 2.40 4.78 0.785 4 0.000 0.071 2836 3165 2031

7095 0.75 158.1 378.1 6.8 454 7112 0.00 2.33 7.12 0.900 6 0.000 0.053 2844 1723 2005

7421 0.76 162.6 355.0 6.9 470 7428 0.00 0.00 5.43 0.833 6 0.000 0.000 2843 1723 1987

7730 0.78 183.1 334.8 6.4 485 7755 0.00 2.45 19.35 1.038 4 0.000 0.070 2844 3149 1903

7761 0.79 191.6 332.7 6.7 486 7776 0.00 2.30 8.93 0.924 6 0.000 0.052 2854 1738 1868

8104 0.79 191.6 305.9 8.1 503 8105 0.00 0.00 0.00 0.000 6 0.000 0.000 2853 1738 1865

8413 0.79 191.6 282.4 7.2 518 8414 0.00 0.00 0.00 0.000 6 0.000 0.000 2854 1738 1865

8724 0.79 192.5 260.8 7.0 533 8725 0.00 0.00 0.00 0.000 6 0.000 0.000 2853 1738 1865

9032 0.79 192.5 236.2 8.4 548 9035 0.00 2.38 0.00 0.000 4 0.000 0.074 2854 3165 1864

9042 0.79 192.5 235.3 8.3 548 9046 0.00 2.30 0.00 0.000 6 0.000 0.054 2864 1743 1864

9363 0.79 192.5 206.1 9.0 564 9367 0.00 2.35 0.00 0.000 4 0.000 0.073 2863 3166 1864

9390 0.72 192.5 203.3 9.8 565 9395 0.15 2.28 0.00 0.000 6 0.130 0.054 2828 1734 1863

9717 1.08 192.5 179.9 7.3 581 9722 0.22 2.35 0.00 0.000 4 0.071 0.072 2927 3158 1863

9812 0.71 192.5 170.4 10.5 585 9817 0.35 2.28 0.00 0.000 6 0.140 0.056 2833 1729 1863

10128 1.08 194.4 150.7 7.0 600 10133 0.22 2.33 0.00 0.000 4 0.074 0.072 2928 3151 1863

10220 0.73 194.4 141.4 12.2 604 10225 0.35 2.25 0.00 0.000 6 0.137 0.058 2834 1737 1863

10549 1.08 201.4 121.0 6.8 620 10560 0.25 0.00 8.80 0.903 6 0.073 0.000 2932 1737 1828

10859 1.08 201.4 94.7 8.6 641 10864 0.00 0.00 0.00 0.000 6 0.000 0.000 2932 1737 1827

11202 1.08 201.4 64.6 8.7 702 11208 0.00 2.35 0.00 0.000 4 0.000 0.077 2932 3155 1827

11214 1.08 201.4 63.5 8.4 704 11222 0.12 2.28 0.00 0.000 6 0.148 0.058 2909 1726 1826

11560 1.17 232.4 39.5 6.0 765 11593 0.10 2.45 27.40 0.937 4 0.086 0.075 2953 3157 1702

11703 0.89 232.4 25.7 12.0 789 11710 0.32 2.30 0.00 0.000 6 0.137 0.059 2868 1737 1698

12023 end climb: FINISH_DEPTH_REACHED

state 12023 begin subsurface finish

12031 0.10 81.0 6.8 -6.6 846 12061 0.47 2.42 -20.15 0.000 4 0.097 0.090 2691 3154 2324

12062 end subsurface finish: CONTROL_FINISHED_OK

state 12062 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	327	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	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	-118268.59	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	082120,6625.746,-6030.967,0,2075.0,0,-37.9	TGT_NAME	TARGET_W_IN
_CALLS	3	TGT_LATLONG	6642.000,-6043.000
_XMS_NAKs	0	TGT_RADIUS	8000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.223,0.069
_SM_DEPTHo	2.59	KALMAN_X	164160.8,-78588.9,8915.0,-221232.3,53229.6
_SM_ANGLEo	-4.2	KALMAN_Y	-266253.4,3720.9,-7885.0,217871.3,10993.2
GPS2	082120,6625.746,-6030.967,0,2075.0,0,-37.9	MHEAD_RNG_PITCHd_Wd	325.0,31367,-13.0,-7.021
SPEED_LIMITS	0.122,0.233	D_GRID	440

FREEZE	6.82,-1.741,-1.774	TCM_TEMP	15.00
FINISH1	6.8,1.026000,81	XPDR_PINGS	18
FINISH2	5.0	_24V_AH	22.3,57.325
RAFOS_CLK	557	_10V_AH	10.5,26.274
RAFOS	0,1227096246,12.083333,12.068334,96,80,53,51,50,48,539,193,219,151,120,232	DATA_FILE_SIZE	28419,851
RAFOS_FIX	6657.400391,-6008.229004,191108,121240,2,86,4.43	CAP_FILE_SIZE	99809,0
IRIDIUM_FIX	6614.97,-5912.45,100298,030321	CFSIZE	260165632,229498880
TT8_MAMPS	0.026845	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
HUMID	1822	SOUNDSPEED	1445.3
INTERNAL_PRESSURE	9.89296	GPS	191108,082120,6625.746,-6030.967,0,2075.0,0,-37.9

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	6	158	22.55	SBE_CT	596	24	319.07
Roll_motor	102	89	205.42	SBE_O2	0	0	0.00
VBD_pump_during_apogee	334	1152	8588.29	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	4	420	42.15
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	0	50	0.00
TT8	1545	19	323.32
LPSleep	8394	2	203.60
TT8_Active	443	19	92.76
TT8_Sampling	1595	39	668.60
TT8_CF8	165	45	79.83
TT8_Kalman	33	81	28.72
Analog_circuits	1280	12	161.30
GPS_charging	0	0	0.00
Compass	1583	8	133.02
RAFOS	1440	1	22.68
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
12	end surface: CONTROL_FINISHED_OK
state	12	begin dive
15	-0.99	-146.0	0.0	0.0	0	67	0.00	0.00	-47.58	0.000	6	0.000	0.000	2692	3158	3247
70	-0.99	-146.0	3.0	-3.1	9	77	0.65	0.70	0.00	0.000	4	0.095	0.084	2464	3596	3248
330	-0.80	-146.0	31.0	-11.6	55	337	0.17	2.17	0.00	0.000	6	0.153	0.054	2510	2215	3251
675	-0.80	-146.0	58.6	-7.4	116	680	0.00	0.00	0.00	0.000	6	0.000	0.000	2510	2215	3252
1017	-0.80	-146.0	86.3	-8.4	177	1023	0.00	2.30	0.00	0.000	4	0.000	0.081	2503	3597	3251
1098	-0.80	-146.0	93.7	-9.4	191	1104	0.00	2.17	0.00	0.000	6	0.000	0.054	2503	2213	3251
1435	-0.80	-146.0	125.4	-9.1	216	1439	0.00	2.22	0.00	0.000	4	0.000	0.067	2503	816	3251
1503	-0.80	-146.0	131.5	-9.3	219	1506	0.00	2.35	0.00	0.000	6	0.000	0.069	2493	2244	3251
1835	-0.80	-146.0	157.1	-7.3	235	1839	0.00	2.22	0.00	0.000	4	0.000	0.083	2482	3600	3251
1997	-0.80	-146.0	170.5	-8.1	242	2001	0.10	2.17	0.00	0.000	6	0.153	0.054	2507	2216	3251
2324	-0.86	-146.0	190.3	-5.1	258	2325	0.00	0.00	0.00	0.000	6	0.000	0.000	2507	2216	3251
2633	-0.93	-146.0	206.6	-5.6	273	2638	0.12	2.33	0.00	0.000	4	0.093	0.080	2447	3600	3250
2689	-0.79	-146.0	211.0	-8.0	275	2695	0.22	2.17	0.00	0.000	6	0.151	0.054	2511	2224	3250
3005	-0.87	-146.0	229.2	-5.8	291	3008	0.00	2.25	0.00	0.000	4	0.000	0.068	2511	819	3250
3083	-0.93	-146.0	234.2	-6.4	294	3088	0.10	2.35	0.00	0.000	6	0.090	0.069	2460	2243	3250
3399	-0.83	-146.0	258.6	-7.8	309	3404	0.15	2.25	0.00	0.000	4	0.158	0.081	2491	3609	3250
3483	-0.90	-146.0	264.7	-7.4	312	3490	0.00	2.20	0.00	0.000	6	0.000	0.055	2492	2222	3250
3799	-0.90	-146.0	285.2	-6.6	328	3803	0.00	2.25	0.00	0.000	4	0.000	0.068	2491	816	3250
3982	-0.90	-146.0	298.4	-6.9	336	3986	0.00	2.33	0.00	0.000	6	0.000	0.070	2482	2232	3249
4315	-0.90	-146.0	320.2	-6.3	352	4318	0.00	2.25	0.00	0.000	4	0.000	0.081	2471	3605	3249
4445	-0.90	-146.0	329.1	-6.9	357	4451	0.00	2.20	0.00	0.000	6	0.000	0.054	2471	2214	3249
4760	-0.90	-146.0	349.4	-6.4	373	4764	0.00	2.22	0.00	0.000	4	0.000	0.066	2471	818	3250
4959	-0.84	-146.0	363.6	-7.7	381	4966	0.15	2.35	0.00	0.000	6	0.140	0.073	2502	2232	3250
5277	-0.95	-146.0	382.8	-6.1	397	5281	0.12	2.25	0.00	0.000	4	0.089	0.079	2441	3602	3250
5355	-0.83	-146.0	389.4	-8.5	400	5359	0.20	2.17	0.00	0.000	6	0.151	0.052	2497	2218	3250
5696	-0.93	-146.0	410.8	-6.3	413	5699	0.00	2.22	0.00	0.000	4	0.000	0.064	2497	818	3250
5757	-0.99	-146.0	414.9	-7.0	414	5762	0.10	2.33	0.00	0.000	6	0.089	0.066	2447	2233	3250
6105	-0.89	-146.0	438.5	-6.4	423	6110	0.15	2.25	0.00	0.000	4	0.155	0.077	2478	3607	3251
6130	end dive: TARGET_DEPTH_EXCEEDED
state	6130	begin apogee
6139	-0.31	0.0	440.3	6.0	423	6265	0.40	0.00	123.20	1.152	6	0.128	0.000	2608	1739	2650
6266	end apogee: CONTROL_FINISHED_OK
state	6266	begin climb
6269	0.99	146.0	441.9	0.0	426	6406	0.90	2.67	129.30	1.071	4	0.098	0.070	2897	3155	2053
6412	0.74	146.0	429.5	10.7	430	6417	0.28	2.53	0.00	0.000	6	0.133	0.052	2836	1735	2051
6760	0.74	146.0	402.2	7.5	439	6761	0.00	0.00	0.00	0.000	6	0.000	0.000	2836	1735	2046
7069	0.74	151.8	380.1	6.8	453	7078	0.00	2.40	4.78	0.785	4	0.000	0.071	2836	3165	2031
7095	0.75	158.1	378.1	6.8	454	7112	0.00	2.33	7.12	0.900	6	0.000	0.053	2844	1723	2005
7421	0.76	162.6	355.0	6.9	470	7428	0.00	0.00	5.43	0.833	6	0.000	0.000	2843	1723	1987
7730	0.78	183.1	334.8	6.4	485	7755	0.00	2.45	19.35	1.038	4	0.000	0.070	2844	3149	1903
7761	0.79	191.6	332.7	6.7	486	7776	0.00	2.30	8.93	0.924	6	0.000	0.052	2854	1738	1868
8104	0.79	191.6	305.9	8.1	503	8105	0.00	0.00	0.00	0.000	6	0.000	0.000	2853	1738	1865
8413	0.79	191.6	282.4	7.2	518	8414	0.00	0.00	0.00	0.000	6	0.000	0.000	2854	1738	1865
8724	0.79	192.5	260.8	7.0	533	8725	0.00	0.00	0.00	0.000	6	0.000	0.000	2853	1738	1865
9032	0.79	192.5	236.2	8.4	548	9035	0.00	2.38	0.00	0.000	4	0.000	0.074	2854	3165	1864
9042	0.79	192.5	235.3	8.3	548	9046	0.00	2.30	0.00	0.000	6	0.000	0.054	2864	1743	1864
9363	0.79	192.5	206.1	9.0	564	9367	0.00	2.35	0.00	0.000	4	0.000	0.073	2863	3166	1864
9390	0.72	192.5	203.3	9.8	565	9395	0.15	2.28	0.00	0.000	6	0.130	0.054	2828	1734	1863
9717	1.08	192.5	179.9	7.3	581	9722	0.22	2.35	0.00	0.000	4	0.071	0.072	2927	3158	1863
9812	0.71	192.5	170.4	10.5	585	9817	0.35	2.28	0.00	0.000	6	0.140	0.056	2833	1729	1863
10128	1.08	194.4	150.7	7.0	600	10133	0.22	2.33	0.00	0.000	4	0.074	0.072	2928	3151	1863
10220	0.73	194.4	141.4	12.2	604	10225	0.35	2.25	0.00	0.000	6	0.137	0.058	2834	1737	1863
10549	1.08	201.4	121.0	6.8	620	10560	0.25	0.00	8.80	0.903	6	0.073	0.000	2932	1737	1828
10859	1.08	201.4	94.7	8.6	641	10864	0.00	0.00	0.00	0.000	6	0.000	0.000	2932	1737	1827
11202	1.08	201.4	64.6	8.7	702	11208	0.00	2.35	0.00	0.000	4	0.000	0.077	2932	3155	1827
11214	1.08	201.4	63.5	8.4	704	11222	0.12	2.28	0.00	0.000	6	0.148	0.058	2909	1726	1826
11560	1.17	232.4	39.5	6.0	765	11593	0.10	2.45	27.40	0.937	4	0.086	0.075	2953	3157	1702
11703	0.89	232.4	25.7	12.0	789	11710	0.32	2.30	0.00	0.000	6	0.137	0.059	2868	1737	1698
12023	end climb: FINISH_DEPTH_REACHED
state	12023	begin subsurface finish
12031	0.10	81.0	6.8	-6.6	846	12061	0.47	2.42	-20.15	0.000	4	0.097	0.090	2691	3154	2324
12062	end subsurface finish: CONTROL_FINISHED_OK
state	12062	begin surface