Glider dive log

DavisStrait Sep08 * SG108 * Dive index * Mission links * Dive 529 * 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 529 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 26 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 500 CALL_NDIVES 1 R_STBD_OVSHOOT 22 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 -126752.72 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 60 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 0 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 2 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 60 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 -126752.72

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 2 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 26 VBD_BLEED_AD_RATE 8

C_VBD 2650 MAX_BUOY 150 R_STBD_OVSHOOT 22 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 0 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 529 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 082640,6630.280,-6002.659,0,4117.2,0,-37.3 TGT_NAME TARGET_W_IN

_CALLS 3 TGT_LATLONG 6642.000,-6043.000

_XMS_NAKs 0 TGT_RADIUS 15000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 3.69 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -65.2 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 082640,6630.280,-6002.659,0,4117.2,0,-37.3 MHEAD_RNG_PITCHd_Wd 343.6,36667,-13.0,-7.021

SPEED_LIMITS 0.122,0.233 D_GRID 528

Post-dive calculations and measurements:

FREEZE 6.81,-1.776,-1.777 TCM_TEMP 14.70

FINISH1 6.8,1.026044,79 XPDR_PINGS 118

FINISH2 5.5 _24V_AH 21.5,85.564

RAFOS_CLK 640 _10V_AH 10.4,39.294

RAFOS 0,1230552264,12.083333,12.073334,99,66,57,57,55,50,508,150,214,197,163,180 DATA_FILE_SIZE 25320,820

RAFOS_FIX 6631.254883,-6004.493652,291208,121208,4,93,0.16 CAP_FILE_SIZE 108041,0

IRIDIUM_FIX 6614.97,-5735.48,170398,050547 CFSIZE 260165632,216985600

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

HUMID 1834 SOUNDSPEED 1444.7

INTERNAL_PRESSURE 9.89296 GPS 291208,122608,6631.255,-6004.494,0,4092.8,0,-37.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 250 93.15 SBE_CT 573 24 295.84

Roll_motor 89 93 179.96 SBE_O2 0 0 0.00

VBD_pump_during_apogee 439 1172 11073.98 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 99 103 219.65 nil 0 0 0.00

Iridium_during_connect 85 160 293.63 nil 0 0 0.00

Iridium_during_xfer 0 223 0.00

Transponder_ping 29 420 266.38

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 182 50 94.75

TT8 1480 19 306.70

LPSleep 9493 2 228.06

TT8_Active 547 19 113.41

TT8_Sampling 1755 39 728.64

TT8_CF8 782 45 373.55

TT8_Kalman 0 0 0.00

Analog_circuits 1402 12 175.06

GPS_charging 0 0 0.00

Compass 1559 8 129.76

RAFOS 1800 1 28.08

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 23 0.00 0.00 -5.57 0.000 2 0.000 0.000 324 2229 1612

27 -0.99 -146.0 3.7 -0.0 1 120 9.18 2.30 -76.10 0.000 4 0.251 0.094 2455 3603 3246

286 -0.77 -146.0 25.0 -11.7 46 293 0.20 2.20 0.00 0.000 6 0.153 0.054 2514 2220 3251

632 -0.77 -146.0 57.0 -9.4 107 638 0.00 0.00 0.00 0.000 6 0.000 0.000 2513 2220 3251

977 -0.77 -146.0 86.2 -8.3 168 983 0.00 2.25 0.00 0.000 4 0.000 0.067 2514 822 3251

1069 -0.72 -146.0 94.5 -8.9 184 1075 0.00 2.35 0.00 0.000 6 0.000 0.067 2506 2242 3251

1402 -0.72 -146.0 122.0 -8.7 208 1406 0.00 2.25 0.00 0.000 4 0.000 0.081 2495 3601 3251

1548 -0.66 -146.0 136.7 -10.6 214 1552 0.15 2.20 0.00 0.000 6 0.150 0.054 2535 2215 3251

1871 -0.77 -146.0 162.4 -8.6 230 1875 0.00 2.25 0.00 0.000 4 0.000 0.067 2535 815 3250

1956 -0.84 -146.0 170.1 -8.3 233 1963 0.12 2.35 0.00 0.000 6 0.081 0.067 2477 2238 3251

2273 -0.76 -146.0 200.2 -8.7 249 2277 0.15 2.25 0.00 0.000 4 0.150 0.080 2509 3595 3251

2447 -0.82 -146.0 213.0 -7.5 257 2451 0.00 2.17 0.00 0.000 6 0.000 0.054 2509 2220 3251

2781 -0.86 -146.0 237.8 -7.4 273 2784 0.00 2.25 0.00 0.000 4 0.000 0.066 2509 820 3251

2975 -0.86 -146.0 253.5 -8.3 281 2979 0.00 2.35 0.00 0.000 6 0.000 0.067 2500 2238 3250

3298 -0.86 -146.0 279.7 -8.5 297 3302 0.00 2.25 0.00 0.000 4 0.000 0.081 2489 3596 3251

3412 -0.86 -146.0 290.6 -9.3 302 3416 0.00 2.17 0.00 0.000 6 0.000 0.054 2489 2226 3251

3746 -0.86 -146.0 318.5 -8.3 318 3750 0.00 2.28 0.00 0.000 4 0.000 0.067 2489 814 3251

3892 -0.86 -146.0 331.1 -8.1 324 3896 0.00 2.35 0.00 0.000 6 0.000 0.067 2480 2232 3251

4214 -0.86 -146.0 353.2 -5.7 340 4215 0.00 0.00 0.00 0.000 6 0.000 0.000 2479 2232 3251

4524 -0.86 -146.0 369.4 -5.5 355 4525 0.00 0.00 0.00 0.000 6 0.000 0.000 2480 2232 3251

4832 -0.86 -146.0 388.9 -6.8 370 4836 0.00 2.33 0.00 0.000 4 0.000 0.064 2480 813 3250

4933 -0.86 -146.0 396.6 -7.9 374 4938 0.10 2.35 0.00 0.000 6 0.142 0.064 2495 2236 3250

5266 -0.95 -146.0 418.9 -6.4 383 5268 0.00 0.00 0.00 0.000 6 0.000 0.000 2495 2236 3251

5591 -1.04 -146.0 438.4 -6.1 391 5593 0.15 0.00 0.00 0.000 6 0.081 0.000 2436 2236 3251

5917 -0.91 -146.0 466.6 -8.9 399 5919 0.17 0.00 0.00 0.000 6 0.150 0.000 2484 2236 3252

6241 -0.97 -146.0 488.0 -6.4 407 6242 0.00 0.00 0.00 0.000 6 0.000 0.000 2484 2236 3252

6569 -1.01 -146.0 506.8 -5.6 415 6571 0.10 0.00 0.00 0.000 6 0.091 0.000 2442 2236 3253

6892 -1.49 -146.0 515.7 -0.0 423 6897 0.22 2.33 0.00 0.000 4 0.068 0.061 2342 816 3254

6966 end dive: NO_VERTICAL_VELOCITY

state 6967 begin apogee

6976 -0.31 0.0 515.7 0.0 424 7107 0.80 0.00 128.05 1.173 6 0.099 0.000 2611 1743 2650

7108 end apogee: CONTROL_FINISHED_OK

state 7108 begin climb

7112 0.99 146.0 515.5 0.0 428 7255 0.88 2.65 133.05 1.095 4 0.090 0.066 2895 3148 2054

7376 0.66 146.0 490.2 10.9 434 7381 0.30 2.40 0.00 0.000 6 0.137 0.051 2825 1742 2049

7697 0.78 178.9 470.4 6.0 442 7732 0.10 2.42 28.75 1.074 4 0.083 0.067 2870 3145 1920

7744 0.66 178.9 466.7 7.5 443 7749 0.22 2.33 0.00 0.000 6 0.133 0.051 2817 1724 1919

8064 0.85 224.6 448.6 5.6 451 8111 0.17 2.45 40.42 1.088 4 0.067 0.066 2893 3148 1734

8118 0.75 224.6 443.8 8.5 452 8123 0.22 2.30 0.00 0.000 6 0.134 0.049 2840 1732 1733

8468 0.85 224.6 417.3 7.4 461 8469 0.10 0.00 0.00 0.000 6 0.082 0.000 2887 1732 1728

8773 0.76 224.6 387.4 9.1 471 8775 0.15 0.00 0.00 0.000 6 0.127 0.000 2844 1732 1728

9083 0.94 273.2 370.2 5.5 486 9129 0.15 0.00 43.47 1.065 6 0.072 0.000 2910 1732 1536

9432 0.83 273.2 332.3 11.5 503 9437 0.17 2.35 0.00 0.000 4 0.129 0.067 2858 3158 1531

9444 0.74 273.2 330.9 11.7 503 9450 0.10 2.28 0.00 0.000 6 0.138 0.051 2837 1724 1530

9760 1.43 273.2 304.8 9.4 519 9762 0.47 0.00 0.00 0.000 6 0.093 0.000 2999 1724 1528

10070 1.04 273.2 260.4 16.0 534 10075 0.30 2.35 0.00 0.000 4 0.146 0.067 2906 3155 1528

10082 0.67 273.2 258.2 16.2 534 10089 0.30 2.25 0.00 0.000 6 0.127 0.051 2824 1728 1527

10398 1.33 273.2 230.9 9.3 550 10401 0.45 0.00 0.00 0.000 6 0.099 0.000 2974 1728 1526

10707 1.33 273.2 203.0 8.7 565 10711 0.00 2.35 0.00 0.000 4 0.000 0.069 2975 3159 1526

10826 0.97 273.2 189.1 11.8 570 10831 0.32 2.28 0.00 0.000 6 0.143 0.054 2891 1728 1526

11148 1.09 282.5 169.8 6.7 586 11163 0.10 2.38 7.57 0.870 4 0.083 0.067 2940 3148 1498

11170 1.09 282.5 167.8 8.8 587 11175 0.15 2.25 0.00 0.000 6 0.140 0.053 2909 1729 1498

11500 1.17 282.5 141.9 7.1 603 11501 0.10 0.00 0.00 0.000 6 0.084 0.000 2957 1729 1498

11807 1.07 282.5 114.1 8.6 618 11812 0.17 2.35 0.00 0.000 4 0.134 0.070 2906 3152 1498

11825 1.02 282.5 112.5 8.4 619 11829 0.00 2.25 0.00 0.000 6 0.000 0.054 2913 1736 1498

12154 1.16 319.0 90.5 5.8 650 12195 0.00 2.38 34.12 0.946 4 0.000 0.071 2913 3155 1349

12203 1.29 343.8 87.4 6.2 658 12233 0.12 2.30 23.75 0.897 6 0.081 0.054 2974 1730 1248

12576 1.18 343.8 47.6 10.7 723 12582 0.15 0.00 0.00 0.000 6 0.143 0.000 2932 1730 1241

12921 1.24 343.8 20.2 8.3 784 12927 0.00 0.00 0.00 0.000 6 0.000 0.000 2932 1730 1239

13083 end climb: FINISH_DEPTH_REACHED

state 13083 begin subsurface finish

13096 0.10 78.9 6.8 -9.0 813 13138 0.70 2.38 -36.60 0.000 4 0.110 0.083 2696 329 2331

13139 end subsurface finish: CONTROL_FINISHED_OK

state 13139 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	529	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	26	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	500	CALL_NDIVES	1	R_STBD_OVSHOOT	22	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	-126752.72	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	60	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	0	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	2	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	082640,6630.280,-6002.659,0,4117.2,0,-37.3	TGT_NAME	TARGET_W_IN
_CALLS	3	TGT_LATLONG	6642.000,-6043.000
_XMS_NAKs	0	TGT_RADIUS	15000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	3.69	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-65.2	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	082640,6630.280,-6002.659,0,4117.2,0,-37.3	MHEAD_RNG_PITCHd_Wd	343.6,36667,-13.0,-7.021
SPEED_LIMITS	0.122,0.233	D_GRID	528

FREEZE	6.81,-1.776,-1.777	TCM_TEMP	14.70
FINISH1	6.8,1.026044,79	XPDR_PINGS	118
FINISH2	5.5	_24V_AH	21.5,85.564
RAFOS_CLK	640	_10V_AH	10.4,39.294
RAFOS	0,1230552264,12.083333,12.073334,99,66,57,57,55,50,508,150,214,197,163,180	DATA_FILE_SIZE	25320,820
RAFOS_FIX	6631.254883,-6004.493652,291208,121208,4,93,0.16	CAP_FILE_SIZE	108041,0
IRIDIUM_FIX	6614.97,-5735.48,170398,050547	CFSIZE	260165632,216985600
TT8_MAMPS	0.026845	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
HUMID	1834	SOUNDSPEED	1444.7
INTERNAL_PRESSURE	9.89296	GPS	291208,122608,6631.255,-6004.494,0,4092.8,0,-37.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	250	93.15	SBE_CT	573	24	295.84
Roll_motor	89	93	179.96	SBE_O2	0	0	0.00
VBD_pump_during_apogee	439	1172	11073.98	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	99	103	219.65	nil	0	0	0.00
Iridium_during_connect	85	160	293.63	nil	0	0	0.00
Iridium_during_xfer	0	223	0.00
Transponder_ping	29	420	266.38
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	182	50	94.75
TT8	1480	19	306.70
LPSleep	9493	2	228.06
TT8_Active	547	19	113.41
TT8_Sampling	1755	39	728.64
TT8_CF8	782	45	373.55
TT8_Kalman	0	0	0.00
Analog_circuits	1402	12	175.06
GPS_charging	0	0	0.00
Compass	1559	8	129.76
RAFOS	1800	1	28.08
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	23	0.00	0.00	-5.57	0.000	2	0.000	0.000	324	2229	1612
27	-0.99	-146.0	3.7	-0.0	1	120	9.18	2.30	-76.10	0.000	4	0.251	0.094	2455	3603	3246
286	-0.77	-146.0	25.0	-11.7	46	293	0.20	2.20	0.00	0.000	6	0.153	0.054	2514	2220	3251
632	-0.77	-146.0	57.0	-9.4	107	638	0.00	0.00	0.00	0.000	6	0.000	0.000	2513	2220	3251
977	-0.77	-146.0	86.2	-8.3	168	983	0.00	2.25	0.00	0.000	4	0.000	0.067	2514	822	3251
1069	-0.72	-146.0	94.5	-8.9	184	1075	0.00	2.35	0.00	0.000	6	0.000	0.067	2506	2242	3251
1402	-0.72	-146.0	122.0	-8.7	208	1406	0.00	2.25	0.00	0.000	4	0.000	0.081	2495	3601	3251
1548	-0.66	-146.0	136.7	-10.6	214	1552	0.15	2.20	0.00	0.000	6	0.150	0.054	2535	2215	3251
1871	-0.77	-146.0	162.4	-8.6	230	1875	0.00	2.25	0.00	0.000	4	0.000	0.067	2535	815	3250
1956	-0.84	-146.0	170.1	-8.3	233	1963	0.12	2.35	0.00	0.000	6	0.081	0.067	2477	2238	3251
2273	-0.76	-146.0	200.2	-8.7	249	2277	0.15	2.25	0.00	0.000	4	0.150	0.080	2509	3595	3251
2447	-0.82	-146.0	213.0	-7.5	257	2451	0.00	2.17	0.00	0.000	6	0.000	0.054	2509	2220	3251
2781	-0.86	-146.0	237.8	-7.4	273	2784	0.00	2.25	0.00	0.000	4	0.000	0.066	2509	820	3251
2975	-0.86	-146.0	253.5	-8.3	281	2979	0.00	2.35	0.00	0.000	6	0.000	0.067	2500	2238	3250
3298	-0.86	-146.0	279.7	-8.5	297	3302	0.00	2.25	0.00	0.000	4	0.000	0.081	2489	3596	3251
3412	-0.86	-146.0	290.6	-9.3	302	3416	0.00	2.17	0.00	0.000	6	0.000	0.054	2489	2226	3251
3746	-0.86	-146.0	318.5	-8.3	318	3750	0.00	2.28	0.00	0.000	4	0.000	0.067	2489	814	3251
3892	-0.86	-146.0	331.1	-8.1	324	3896	0.00	2.35	0.00	0.000	6	0.000	0.067	2480	2232	3251
4214	-0.86	-146.0	353.2	-5.7	340	4215	0.00	0.00	0.00	0.000	6	0.000	0.000	2479	2232	3251
4524	-0.86	-146.0	369.4	-5.5	355	4525	0.00	0.00	0.00	0.000	6	0.000	0.000	2480	2232	3251
4832	-0.86	-146.0	388.9	-6.8	370	4836	0.00	2.33	0.00	0.000	4	0.000	0.064	2480	813	3250
4933	-0.86	-146.0	396.6	-7.9	374	4938	0.10	2.35	0.00	0.000	6	0.142	0.064	2495	2236	3250
5266	-0.95	-146.0	418.9	-6.4	383	5268	0.00	0.00	0.00	0.000	6	0.000	0.000	2495	2236	3251
5591	-1.04	-146.0	438.4	-6.1	391	5593	0.15	0.00	0.00	0.000	6	0.081	0.000	2436	2236	3251
5917	-0.91	-146.0	466.6	-8.9	399	5919	0.17	0.00	0.00	0.000	6	0.150	0.000	2484	2236	3252
6241	-0.97	-146.0	488.0	-6.4	407	6242	0.00	0.00	0.00	0.000	6	0.000	0.000	2484	2236	3252
6569	-1.01	-146.0	506.8	-5.6	415	6571	0.10	0.00	0.00	0.000	6	0.091	0.000	2442	2236	3253
6892	-1.49	-146.0	515.7	-0.0	423	6897	0.22	2.33	0.00	0.000	4	0.068	0.061	2342	816	3254
6966	end dive: NO_VERTICAL_VELOCITY
state	6967	begin apogee
6976	-0.31	0.0	515.7	0.0	424	7107	0.80	0.00	128.05	1.173	6	0.099	0.000	2611	1743	2650
7108	end apogee: CONTROL_FINISHED_OK
state	7108	begin climb
7112	0.99	146.0	515.5	0.0	428	7255	0.88	2.65	133.05	1.095	4	0.090	0.066	2895	3148	2054
7376	0.66	146.0	490.2	10.9	434	7381	0.30	2.40	0.00	0.000	6	0.137	0.051	2825	1742	2049
7697	0.78	178.9	470.4	6.0	442	7732	0.10	2.42	28.75	1.074	4	0.083	0.067	2870	3145	1920
7744	0.66	178.9	466.7	7.5	443	7749	0.22	2.33	0.00	0.000	6	0.133	0.051	2817	1724	1919
8064	0.85	224.6	448.6	5.6	451	8111	0.17	2.45	40.42	1.088	4	0.067	0.066	2893	3148	1734
8118	0.75	224.6	443.8	8.5	452	8123	0.22	2.30	0.00	0.000	6	0.134	0.049	2840	1732	1733
8468	0.85	224.6	417.3	7.4	461	8469	0.10	0.00	0.00	0.000	6	0.082	0.000	2887	1732	1728
8773	0.76	224.6	387.4	9.1	471	8775	0.15	0.00	0.00	0.000	6	0.127	0.000	2844	1732	1728
9083	0.94	273.2	370.2	5.5	486	9129	0.15	0.00	43.47	1.065	6	0.072	0.000	2910	1732	1536
9432	0.83	273.2	332.3	11.5	503	9437	0.17	2.35	0.00	0.000	4	0.129	0.067	2858	3158	1531
9444	0.74	273.2	330.9	11.7	503	9450	0.10	2.28	0.00	0.000	6	0.138	0.051	2837	1724	1530
9760	1.43	273.2	304.8	9.4	519	9762	0.47	0.00	0.00	0.000	6	0.093	0.000	2999	1724	1528
10070	1.04	273.2	260.4	16.0	534	10075	0.30	2.35	0.00	0.000	4	0.146	0.067	2906	3155	1528
10082	0.67	273.2	258.2	16.2	534	10089	0.30	2.25	0.00	0.000	6	0.127	0.051	2824	1728	1527
10398	1.33	273.2	230.9	9.3	550	10401	0.45	0.00	0.00	0.000	6	0.099	0.000	2974	1728	1526
10707	1.33	273.2	203.0	8.7	565	10711	0.00	2.35	0.00	0.000	4	0.000	0.069	2975	3159	1526
10826	0.97	273.2	189.1	11.8	570	10831	0.32	2.28	0.00	0.000	6	0.143	0.054	2891	1728	1526
11148	1.09	282.5	169.8	6.7	586	11163	0.10	2.38	7.57	0.870	4	0.083	0.067	2940	3148	1498
11170	1.09	282.5	167.8	8.8	587	11175	0.15	2.25	0.00	0.000	6	0.140	0.053	2909	1729	1498
11500	1.17	282.5	141.9	7.1	603	11501	0.10	0.00	0.00	0.000	6	0.084	0.000	2957	1729	1498
11807	1.07	282.5	114.1	8.6	618	11812	0.17	2.35	0.00	0.000	4	0.134	0.070	2906	3152	1498
11825	1.02	282.5	112.5	8.4	619	11829	0.00	2.25	0.00	0.000	6	0.000	0.054	2913	1736	1498
12154	1.16	319.0	90.5	5.8	650	12195	0.00	2.38	34.12	0.946	4	0.000	0.071	2913	3155	1349
12203	1.29	343.8	87.4	6.2	658	12233	0.12	2.30	23.75	0.897	6	0.081	0.054	2974	1730	1248
12576	1.18	343.8	47.6	10.7	723	12582	0.15	0.00	0.00	0.000	6	0.143	0.000	2932	1730	1241
12921	1.24	343.8	20.2	8.3	784	12927	0.00	0.00	0.00	0.000	6	0.000	0.000	2932	1730	1239
13083	end climb: FINISH_DEPTH_REACHED
state	13083	begin subsurface finish
13096	0.10	78.9	6.8	-9.0	813	13138	0.70	2.38	-36.60	0.000	4	0.110	0.083	2696	329	2331
13139	end subsurface finish: CONTROL_FINISHED_OK
state	13139	begin surface