Glider dive log

DavisStrait Sep08 * SG108 * Dive index * Mission links * Dive 328 * 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 328 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 328 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 0.010,0.233

_SM_DEPTHo 2.34 KALMAN_X 132983.4,-9138.2,-16896.9,-233144.8,-10048.3

_SM_ANGLEo -1.1 KALMAN_Y -270411.5,-4834.2,6189.2,216577.6,11189.3

GPS2 082120,6625.746,-6030.967,0,2075.0,0,-37.9 MHEAD_RNG_PITCHd_Wd 40.4,31367,-13.0,-7.021

SPEED_LIMITS 0.122,0.233 D_GRID 440

Post-dive calculations and measurements:

FREEZE 6.95,-1.755,-1.774 XPDR_PINGS 38

FINISH1 6.9,1.025991,81 _24V_AH 22.2,57.439

FINISH2 5.7 _10V_AH 10.5,26.322

RAFOS_CLK 565 DATA_FILE_SIZE 28416,845

RAFOS_FIX 6657.400391,-6008.229004,191108,121240,2,86,4.43 CAP_FILE_SIZE 98505,0

IRIDIUM_FIX 6614.97,-5912.45,100298,030321 CFSIZE 260165632,229445632

TT8_MAMPS 0.029146 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

HUMID 1805 SOUNDSPEED 1445.6

INTERNAL_PRESSURE 9.90272 GPS 191108,082120,6625.746,-6030.967,0,2075.0,0,-37.9

TCM_TEMP 14.90

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 6 175 25.35 SBE_CT 591 24 315.40

Roll_motor 94 84 176.77 SBE_O2 0 0 0.00

VBD_pump_during_apogee 373 1148 9524.97 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 9 420 88.58

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 0 50 0.00

TT8 1486 19 310.95

LPSleep 8630 2 209.32

TT8_Active 477 19 99.80

TT8_Sampling 1498 39 628.25

TT8_CF8 174 45 84.24

TT8_Kalman 33 81 28.68

Analog_circuits 1274 12 160.59

GPS_charging 0 0 0.00

Compass 1496 8 125.73

RAFOS 360 1 5.67

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

16 -0.99 -146.0 0.0 0.0 0 63 0.00 0.00 -44.45 0.000 2 0.000 0.000 2691 3154 3240

66 -0.99 -146.0 3.3 -2.2 8 72 0.62 0.00 0.00 0.000 6 0.073 0.000 2458 3154 3241

409 -0.78 -146.0 44.7 -12.1 69 417 0.20 3.83 0.00 0.000 4 0.176 0.062 2530 814 3245

670 -0.78 -146.0 66.5 -7.1 115 676 0.00 2.35 0.00 0.000 6 0.000 0.069 2522 2236 3245

1015 -0.83 -146.0 90.4 -7.7 176 1021 0.10 0.00 0.00 0.000 6 0.094 0.000 2478 2236 3245

1352 -0.73 -146.0 120.7 -8.9 206 1356 0.17 2.35 0.00 0.000 4 0.152 0.067 2527 807 3245

1425 -0.79 -146.0 126.3 -7.1 209 1429 0.00 2.38 0.00 0.000 6 0.000 0.069 2520 2245 3245

1741 -0.86 -146.0 145.8 -6.0 224 1743 0.10 0.00 0.00 0.000 6 0.093 0.000 2475 2245 3245

2050 -0.78 -146.0 168.4 -7.3 239 2051 0.12 0.00 0.00 0.000 6 0.155 0.000 2507 2245 3245

2359 -0.85 -146.0 187.3 -5.9 254 2363 0.00 2.22 0.00 0.000 4 0.000 0.084 2499 3596 3244

2416 -0.91 -146.0 191.0 -6.5 256 2420 0.00 2.17 0.00 0.000 6 0.000 0.056 2499 2223 3244

2737 -0.91 -146.0 212.1 -6.9 272 2741 0.00 2.25 0.00 0.000 4 0.000 0.070 2499 820 3244

2799 -0.91 -146.0 216.6 -7.5 274 2805 0.00 2.35 0.00 0.000 6 0.000 0.071 2490 2239 3244

3114 -0.91 -146.0 238.8 -6.8 290 3118 0.00 2.25 0.00 0.000 4 0.000 0.084 2479 3605 3244

3159 -0.91 -146.0 242.3 -7.7 292 3163 0.00 2.20 0.00 0.000 6 0.000 0.056 2479 2218 3244

3492 -0.91 -146.0 267.3 -7.9 308 3496 0.00 2.25 0.00 0.000 4 0.000 0.069 2479 819 3243

3582 -0.85 -146.0 274.8 -8.3 312 3587 0.10 2.33 0.00 0.000 6 0.148 0.070 2494 2233 3244

3915 -0.90 -146.0 296.5 -6.3 328 3916 0.00 0.00 0.00 0.000 6 0.000 0.000 2494 2233 3244

4226 -0.96 -146.0 315.0 -6.0 343 4230 0.10 2.33 0.00 0.000 4 0.097 0.067 2454 816 3243

4326 -0.81 -146.0 322.2 -7.3 347 4333 0.22 2.35 0.00 0.000 6 0.143 0.070 2506 2234 3243

4643 -0.92 -146.0 337.5 -4.8 363 4644 0.10 0.00 0.00 0.000 6 0.097 0.000 2465 2235 3243

4951 -0.92 -146.0 357.8 -6.7 378 4955 0.00 2.25 0.00 0.000 4 0.000 0.082 2454 3605 3243

5052 -0.86 -146.0 365.2 -7.3 382 5056 0.15 2.20 0.00 0.000 6 0.153 0.054 2494 2214 3243

5375 -0.93 -146.0 380.8 -4.6 398 5378 0.00 2.22 0.00 0.000 4 0.000 0.066 2494 820 3244

5475 -0.93 -146.0 386.4 -6.1 402 5479 0.00 2.35 0.00 0.000 6 0.000 0.067 2486 2245 3243

5797 -0.93 -146.0 402.2 -4.9 417 5800 0.00 2.22 0.00 0.000 4 0.000 0.081 2476 3602 3244

5869 -0.93 -146.0 405.9 -5.2 418 5873 0.00 2.17 0.00 0.000 6 0.000 0.053 2476 2221 3244

6212 -0.93 -146.0 422.5 -4.9 427 6216 0.00 2.25 0.00 0.000 4 0.000 0.067 2477 816 3244

6341 -0.93 -146.0 429.8 -6.0 429 6347 0.00 2.35 0.00 0.000 6 0.000 0.067 2466 2244 3244

6547 end dive: TARGET_DEPTH_EXCEEDED

state 6548 begin apogee

6555 -0.31 0.0 441.3 5.6 435 6681 0.47 0.00 123.45 1.149 6 0.130 0.000 2613 1732 2650

6682 end apogee: CONTROL_FINISHED_OK

state 6682 begin climb

6684 0.99 146.0 442.7 0.0 438 6818 0.88 0.00 129.25 1.071 6 0.096 0.000 2895 1732 2054

7134 0.76 146.0 397.5 10.8 449 7139 0.20 2.40 0.00 0.000 4 0.130 0.070 2848 336 2047

7167 0.76 146.0 394.2 8.9 450 7173 0.00 2.40 0.00 0.000 6 0.000 0.058 2848 1746 2047

7483 0.76 146.0 369.1 7.9 466 7486 0.00 2.33 0.00 0.000 4 0.000 0.071 2848 3158 2046

7529 0.60 146.0 365.0 9.8 468 7533 0.17 2.30 0.00 0.000 6 0.133 0.054 2809 1736 2046

7857 0.76 174.2 344.4 6.1 484 7883 0.12 0.00 23.65 1.048 6 0.074 0.000 2865 1736 1939

8185 0.69 174.2 316.5 8.4 500 8190 0.15 2.38 0.00 0.000 4 0.124 0.071 2821 3164 1936

8202 0.69 174.2 315.1 8.1 501 8205 0.00 2.30 0.00 0.000 6 0.000 0.054 2829 1727 1936

8534 0.84 220.2 295.2 5.5 517 8577 0.12 0.00 39.88 1.039 6 0.074 0.000 2886 1726 1752

8884 0.73 220.2 264.4 9.1 534 8886 0.17 0.00 0.00 0.000 6 0.121 0.000 2834 1727 1746

9193 0.92 240.8 245.0 6.4 549 9219 0.15 2.45 18.17 0.988 4 0.073 0.071 2898 3164 1668

9231 0.78 240.8 241.6 10.5 550 9238 0.22 2.30 0.00 0.000 6 0.133 0.054 2843 1735 1666

9547 0.95 250.4 219.5 6.7 566 9558 0.15 0.00 9.25 0.910 6 0.071 0.000 2909 1734 1629

9856 0.82 250.4 188.4 9.9 581 9858 0.17 0.00 0.00 0.000 6 0.130 0.000 2858 1734 1627

10166 0.96 260.3 167.7 6.7 596 10181 0.12 2.30 9.98 0.917 4 0.078 0.071 2921 332 1588

10192 0.96 260.3 165.1 9.0 596 10197 0.12 2.33 0.00 0.000 6 0.141 0.059 2887 1756 1588

10514 0.96 260.3 137.9 7.7 612 10518 0.00 2.28 0.00 0.000 4 0.000 0.077 2887 3160 1586

10553 0.88 260.3 134.3 9.1 613 10560 0.10 2.28 0.00 0.000 6 0.143 0.058 2869 1734 1585

10869 1.03 269.0 112.5 6.7 629 10880 0.12 0.00 8.75 0.888 6 0.078 0.000 2925 1734 1553

11192 0.95 269.0 84.1 8.5 668 11199 0.15 2.33 0.00 0.000 4 0.135 0.073 2890 319 1552

11206 0.89 269.0 83.2 8.0 670 11213 0.00 2.35 0.00 0.000 6 0.000 0.061 2890 1754 1552

11552 1.03 274.2 60.9 6.9 731 11564 0.00 2.28 6.05 0.807 4 0.000 0.077 2890 3152 1532

11583 1.12 277.7 58.7 6.9 736 11596 0.10 2.28 5.00 0.742 6 0.088 0.058 2943 1732 1517

11936 1.05 277.7 25.6 9.7 798 11943 0.15 2.38 0.00 0.000 4 0.134 0.077 2899 3164 1516

11966 1.05 277.7 22.6 9.1 803 11972 0.00 2.30 0.00 0.000 6 0.000 0.059 2907 1732 1515

12173 end climb: FINISH_DEPTH_REACHED

state 12173 begin subsurface finish

12181 0.10 81.5 6.9 -8.4 840 12210 0.62 0.00 -25.65 0.000 6 0.114 0.000 2700 1732 2320

12211 end subsurface finish: CONTROL_FINISHED_OK

state 12211 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	328	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	0.010,0.233
_SM_DEPTHo	2.34	KALMAN_X	132983.4,-9138.2,-16896.9,-233144.8,-10048.3
_SM_ANGLEo	-1.1	KALMAN_Y	-270411.5,-4834.2,6189.2,216577.6,11189.3
GPS2	082120,6625.746,-6030.967,0,2075.0,0,-37.9	MHEAD_RNG_PITCHd_Wd	40.4,31367,-13.0,-7.021
SPEED_LIMITS	0.122,0.233	D_GRID	440

FREEZE	6.95,-1.755,-1.774	XPDR_PINGS	38
FINISH1	6.9,1.025991,81	_24V_AH	22.2,57.439
FINISH2	5.7	_10V_AH	10.5,26.322
RAFOS_CLK	565	DATA_FILE_SIZE	28416,845
RAFOS_FIX	6657.400391,-6008.229004,191108,121240,2,86,4.43	CAP_FILE_SIZE	98505,0
IRIDIUM_FIX	6614.97,-5912.45,100298,030321	CFSIZE	260165632,229445632
TT8_MAMPS	0.029146	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
HUMID	1805	SOUNDSPEED	1445.6
INTERNAL_PRESSURE	9.90272	GPS	191108,082120,6625.746,-6030.967,0,2075.0,0,-37.9
TCM_TEMP	14.90

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	6	175	25.35	SBE_CT	591	24	315.40
Roll_motor	94	84	176.77	SBE_O2	0	0	0.00
VBD_pump_during_apogee	373	1148	9524.97	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	9	420	88.58
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	0	50	0.00
TT8	1486	19	310.95
LPSleep	8630	2	209.32
TT8_Active	477	19	99.80
TT8_Sampling	1498	39	628.25
TT8_CF8	174	45	84.24
TT8_Kalman	33	81	28.68
Analog_circuits	1274	12	160.59
GPS_charging	0	0	0.00
Compass	1496	8	125.73
RAFOS	360	1	5.67
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
16	-0.99	-146.0	0.0	0.0	0	63	0.00	0.00	-44.45	0.000	2	0.000	0.000	2691	3154	3240
66	-0.99	-146.0	3.3	-2.2	8	72	0.62	0.00	0.00	0.000	6	0.073	0.000	2458	3154	3241
409	-0.78	-146.0	44.7	-12.1	69	417	0.20	3.83	0.00	0.000	4	0.176	0.062	2530	814	3245
670	-0.78	-146.0	66.5	-7.1	115	676	0.00	2.35	0.00	0.000	6	0.000	0.069	2522	2236	3245
1015	-0.83	-146.0	90.4	-7.7	176	1021	0.10	0.00	0.00	0.000	6	0.094	0.000	2478	2236	3245
1352	-0.73	-146.0	120.7	-8.9	206	1356	0.17	2.35	0.00	0.000	4	0.152	0.067	2527	807	3245
1425	-0.79	-146.0	126.3	-7.1	209	1429	0.00	2.38	0.00	0.000	6	0.000	0.069	2520	2245	3245
1741	-0.86	-146.0	145.8	-6.0	224	1743	0.10	0.00	0.00	0.000	6	0.093	0.000	2475	2245	3245
2050	-0.78	-146.0	168.4	-7.3	239	2051	0.12	0.00	0.00	0.000	6	0.155	0.000	2507	2245	3245
2359	-0.85	-146.0	187.3	-5.9	254	2363	0.00	2.22	0.00	0.000	4	0.000	0.084	2499	3596	3244
2416	-0.91	-146.0	191.0	-6.5	256	2420	0.00	2.17	0.00	0.000	6	0.000	0.056	2499	2223	3244
2737	-0.91	-146.0	212.1	-6.9	272	2741	0.00	2.25	0.00	0.000	4	0.000	0.070	2499	820	3244
2799	-0.91	-146.0	216.6	-7.5	274	2805	0.00	2.35	0.00	0.000	6	0.000	0.071	2490	2239	3244
3114	-0.91	-146.0	238.8	-6.8	290	3118	0.00	2.25	0.00	0.000	4	0.000	0.084	2479	3605	3244
3159	-0.91	-146.0	242.3	-7.7	292	3163	0.00	2.20	0.00	0.000	6	0.000	0.056	2479	2218	3244
3492	-0.91	-146.0	267.3	-7.9	308	3496	0.00	2.25	0.00	0.000	4	0.000	0.069	2479	819	3243
3582	-0.85	-146.0	274.8	-8.3	312	3587	0.10	2.33	0.00	0.000	6	0.148	0.070	2494	2233	3244
3915	-0.90	-146.0	296.5	-6.3	328	3916	0.00	0.00	0.00	0.000	6	0.000	0.000	2494	2233	3244
4226	-0.96	-146.0	315.0	-6.0	343	4230	0.10	2.33	0.00	0.000	4	0.097	0.067	2454	816	3243
4326	-0.81	-146.0	322.2	-7.3	347	4333	0.22	2.35	0.00	0.000	6	0.143	0.070	2506	2234	3243
4643	-0.92	-146.0	337.5	-4.8	363	4644	0.10	0.00	0.00	0.000	6	0.097	0.000	2465	2235	3243
4951	-0.92	-146.0	357.8	-6.7	378	4955	0.00	2.25	0.00	0.000	4	0.000	0.082	2454	3605	3243
5052	-0.86	-146.0	365.2	-7.3	382	5056	0.15	2.20	0.00	0.000	6	0.153	0.054	2494	2214	3243
5375	-0.93	-146.0	380.8	-4.6	398	5378	0.00	2.22	0.00	0.000	4	0.000	0.066	2494	820	3244
5475	-0.93	-146.0	386.4	-6.1	402	5479	0.00	2.35	0.00	0.000	6	0.000	0.067	2486	2245	3243
5797	-0.93	-146.0	402.2	-4.9	417	5800	0.00	2.22	0.00	0.000	4	0.000	0.081	2476	3602	3244
5869	-0.93	-146.0	405.9	-5.2	418	5873	0.00	2.17	0.00	0.000	6	0.000	0.053	2476	2221	3244
6212	-0.93	-146.0	422.5	-4.9	427	6216	0.00	2.25	0.00	0.000	4	0.000	0.067	2477	816	3244
6341	-0.93	-146.0	429.8	-6.0	429	6347	0.00	2.35	0.00	0.000	6	0.000	0.067	2466	2244	3244
6547	end dive: TARGET_DEPTH_EXCEEDED
state	6548	begin apogee
6555	-0.31	0.0	441.3	5.6	435	6681	0.47	0.00	123.45	1.149	6	0.130	0.000	2613	1732	2650
6682	end apogee: CONTROL_FINISHED_OK
state	6682	begin climb
6684	0.99	146.0	442.7	0.0	438	6818	0.88	0.00	129.25	1.071	6	0.096	0.000	2895	1732	2054
7134	0.76	146.0	397.5	10.8	449	7139	0.20	2.40	0.00	0.000	4	0.130	0.070	2848	336	2047
7167	0.76	146.0	394.2	8.9	450	7173	0.00	2.40	0.00	0.000	6	0.000	0.058	2848	1746	2047
7483	0.76	146.0	369.1	7.9	466	7486	0.00	2.33	0.00	0.000	4	0.000	0.071	2848	3158	2046
7529	0.60	146.0	365.0	9.8	468	7533	0.17	2.30	0.00	0.000	6	0.133	0.054	2809	1736	2046
7857	0.76	174.2	344.4	6.1	484	7883	0.12	0.00	23.65	1.048	6	0.074	0.000	2865	1736	1939
8185	0.69	174.2	316.5	8.4	500	8190	0.15	2.38	0.00	0.000	4	0.124	0.071	2821	3164	1936
8202	0.69	174.2	315.1	8.1	501	8205	0.00	2.30	0.00	0.000	6	0.000	0.054	2829	1727	1936
8534	0.84	220.2	295.2	5.5	517	8577	0.12	0.00	39.88	1.039	6	0.074	0.000	2886	1726	1752
8884	0.73	220.2	264.4	9.1	534	8886	0.17	0.00	0.00	0.000	6	0.121	0.000	2834	1727	1746
9193	0.92	240.8	245.0	6.4	549	9219	0.15	2.45	18.17	0.988	4	0.073	0.071	2898	3164	1668
9231	0.78	240.8	241.6	10.5	550	9238	0.22	2.30	0.00	0.000	6	0.133	0.054	2843	1735	1666
9547	0.95	250.4	219.5	6.7	566	9558	0.15	0.00	9.25	0.910	6	0.071	0.000	2909	1734	1629
9856	0.82	250.4	188.4	9.9	581	9858	0.17	0.00	0.00	0.000	6	0.130	0.000	2858	1734	1627
10166	0.96	260.3	167.7	6.7	596	10181	0.12	2.30	9.98	0.917	4	0.078	0.071	2921	332	1588
10192	0.96	260.3	165.1	9.0	596	10197	0.12	2.33	0.00	0.000	6	0.141	0.059	2887	1756	1588
10514	0.96	260.3	137.9	7.7	612	10518	0.00	2.28	0.00	0.000	4	0.000	0.077	2887	3160	1586
10553	0.88	260.3	134.3	9.1	613	10560	0.10	2.28	0.00	0.000	6	0.143	0.058	2869	1734	1585
10869	1.03	269.0	112.5	6.7	629	10880	0.12	0.00	8.75	0.888	6	0.078	0.000	2925	1734	1553
11192	0.95	269.0	84.1	8.5	668	11199	0.15	2.33	0.00	0.000	4	0.135	0.073	2890	319	1552
11206	0.89	269.0	83.2	8.0	670	11213	0.00	2.35	0.00	0.000	6	0.000	0.061	2890	1754	1552
11552	1.03	274.2	60.9	6.9	731	11564	0.00	2.28	6.05	0.807	4	0.000	0.077	2890	3152	1532
11583	1.12	277.7	58.7	6.9	736	11596	0.10	2.28	5.00	0.742	6	0.088	0.058	2943	1732	1517
11936	1.05	277.7	25.6	9.7	798	11943	0.15	2.38	0.00	0.000	4	0.134	0.077	2899	3164	1516
11966	1.05	277.7	22.6	9.1	803	11972	0.00	2.30	0.00	0.000	6	0.000	0.059	2907	1732	1515
12173	end climb: FINISH_DEPTH_REACHED
state	12173	begin subsurface finish
12181	0.10	81.5	6.9	-8.4	840	12210	0.62	0.00	-25.65	0.000	6	0.114	0.000	2700	1732	2320
12211	end subsurface finish: CONTROL_FINISHED_OK
state	12211	begin surface