Glider dive log

DavisStrait Sep08 * SG108 * Dive index * Mission links * Dive 535 * 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 535 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 27 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 500 CALL_NDIVES 1 R_STBD_OVSHOOT 19 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 27 VBD_BLEED_AD_RATE 8

C_VBD 2650 MAX_BUOY 150 R_STBD_OVSHOOT 19 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 535 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 202120,6633.087,-6012.624,0,2098.0,0,-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 3.20 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -9.7 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 202120,6633.087,-6012.624,0,2098.0,0,-37.3 MHEAD_RNG_PITCHd_Wd 343.9,27705,-13.0,-7.021

SPEED_LIMITS 0.122,0.233 D_GRID 516

Post-dive calculations and measurements:

FREEZE 6.71,-1.776,-1.771 TCM_TEMP 14.80

FINISH1 6.7,1.025950,83 XPDR_PINGS 150

FINISH2 3.8 _24V_AH 21.7,86.429

RAFOS_CLK 548 _10V_AH 10.4,39.596

RAFOS 2,1230625446,8.416667,8.401667,64,60,58,56,51,49,191,206,162,122,218,92 DATA_FILE_SIZE 25307,771

RAFOS_FIX 6633.087402,-6012.624023,291208,202020,2,98,0.15 CAP_FILE_SIZE 97714,0

IRIDIUM_FIX 6614.97,-5735.48,170398,050547 CFSIZE 260165632,216670208

TT8_MAMPS 0.028379 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

HUMID 1831 SOUNDSPEED 1444.4

INTERNAL_PRESSURE 9.89296 GPS 291208,202120,6633.087,-6012.624,0,2098.0,0,-37.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 6 177 26.55 SBE_CT 539 24 281.14

Roll_motor 101 87 192.82 SBE_O2 0 0 0.00

VBD_pump_during_apogee 473 1138 11699.41 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 37 420 341.77

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 0 50 0.00

TT8 1402 19 290.46

LPSleep 8175 2 196.40

TT8_Active 530 19 109.87

TT8_Sampling 1571 39 652.30

TT8_CF8 218 45 104.50

TT8_Kalman 0 0 0.00

Analog_circuits 1394 12 173.98

GPS_charging 0 0 0.00

Compass 1556 8 129.49

RAFOS 720 1 11.23

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

17 -0.99 -146.0 0.0 0.0 0 24 0.00 0.00 -5.30 0.000 2 0.000 0.000 2691 3155 2435

28 -0.99 -146.0 3.2 -0.0 1 68 0.60 0.00 -36.85 0.000 6 0.053 0.000 2447 3156 3247

407 -0.74 -146.0 44.8 -14.6 68 413 0.25 0.00 0.00 0.000 6 0.178 0.000 2517 3156 3252

753 -0.74 -146.0 81.3 -10.6 129 759 0.00 0.73 0.00 0.000 4 0.000 0.087 2516 3599 3253

1012 -0.74 -146.0 108.8 -11.0 164 1015 0.00 2.20 0.00 0.000 6 0.000 0.054 2516 2223 3253

1335 -0.74 -146.0 138.4 -9.2 180 1339 0.00 2.33 0.00 0.000 4 0.000 0.079 2506 3602 3253

1464 -0.74 -146.0 151.9 -10.4 185 1470 0.00 2.20 0.00 0.000 6 0.000 0.054 2506 2215 3252

1780 -0.74 -146.0 178.9 -8.3 201 1784 0.00 2.25 0.00 0.000 4 0.000 0.066 2506 822 3252

1882 -0.74 -146.0 188.2 -9.2 205 1886 0.10 2.38 0.00 0.000 6 0.146 0.067 2522 2240 3252

2198 -0.82 -146.0 210.1 -5.9 220 2200 0.00 0.00 0.00 0.000 6 0.000 0.000 2522 2240 3252

2508 -0.92 -146.0 228.9 -6.0 235 2513 0.15 2.35 0.00 0.000 4 0.083 0.064 2461 816 3252

2571 -0.76 -146.0 234.0 -8.4 238 2576 0.22 2.35 0.00 0.000 6 0.135 0.071 2513 2231 3252

2905 -0.84 -146.0 258.7 -9.1 254 2909 0.00 2.25 0.00 0.000 4 0.000 0.081 2504 3606 3252

2961 -0.94 -146.0 264.4 -9.7 256 2965 0.10 2.20 0.00 0.000 6 0.094 0.054 2460 2213 3252

3282 -0.84 -146.0 295.2 -9.1 272 3287 0.15 2.25 0.00 0.000 4 0.146 0.064 2501 823 3252

3419 -0.84 -146.0 307.0 -8.5 278 3423 0.00 2.40 0.00 0.000 6 0.000 0.067 2493 2247 3251

3746 -0.84 -146.0 327.5 -6.0 294 3750 0.00 2.25 0.00 0.000 4 0.000 0.080 2483 3608 3251

3839 -0.90 -146.0 333.4 -6.8 298 3843 0.00 2.20 0.00 0.000 6 0.000 0.053 2483 2221 3251

4172 -0.90 -146.0 354.0 -6.0 314 4176 0.00 2.28 0.00 0.000 4 0.000 0.065 2483 811 3251

4312 -0.90 -146.0 363.5 -7.2 320 4316 0.00 2.38 0.00 0.000 6 0.000 0.065 2473 2238 3251

4640 -0.90 -146.0 385.4 -6.6 336 4644 0.00 2.25 0.00 0.000 4 0.000 0.078 2462 3605 3252

4731 -0.90 -146.0 391.8 -7.3 340 4735 0.10 2.20 0.00 0.000 6 0.150 0.053 2487 2211 3251

5082 -0.90 -146.0 411.7 -5.5 352 5086 0.00 2.22 0.00 0.000 4 0.000 0.064 2487 816 3251

5160 -0.90 -146.0 416.9 -6.3 353 5164 0.00 2.35 0.00 0.000 6 0.000 0.064 2479 2234 3252

5499 -0.90 -146.0 437.8 -6.2 362 5503 0.00 2.25 0.00 0.000 4 0.000 0.077 2469 3608 3252

5618 -0.90 -146.0 446.4 -7.6 364 5622 0.00 2.17 0.00 0.000 6 0.000 0.051 2469 2224 3252

5961 -1.35 -146.0 452.9 0.0 373 5966 0.22 2.25 0.00 0.000 4 0.067 0.061 2370 811 3253

5997 end dive: NO_VERTICAL_VELOCITY

state 5997 begin apogee

6007 -0.31 0.0 452.9 0.0 373 6137 0.73 0.00 126.82 1.139 6 0.101 0.000 2613 1749 2650

6137 end apogee: CONTROL_FINISHED_OK

state 6137 begin climb

6142 0.99 146.0 452.6 0.0 377 6280 0.88 2.60 131.05 1.063 4 0.099 0.067 2892 3157 2054

6436 0.70 146.0 425.8 11.7 383 6443 0.28 2.40 0.00 0.000 6 0.135 0.051 2828 1740 2048

6768 0.82 185.8 405.1 5.7 392 6811 0.12 2.40 34.15 1.049 4 0.077 0.067 2883 3159 1892

6834 0.63 185.8 398.9 10.4 393 6839 0.28 2.33 0.00 0.000 6 0.131 0.051 2814 1729 1890

7163 0.89 198.9 377.7 6.6 409 7177 0.20 0.00 11.85 0.970 6 0.077 0.000 2893 1729 1839

7494 0.95 198.9 350.5 7.5 425 7498 0.00 2.33 0.00 0.000 4 0.000 0.067 2893 3156 1838

7524 0.88 198.9 348.2 8.0 426 7528 0.12 2.25 0.00 0.000 6 0.148 0.051 2871 1730 1837

7851 0.94 245.1 328.6 5.5 442 7897 0.00 2.40 41.17 1.040 4 0.000 0.067 2870 3161 1650

7977 0.84 245.1 320.5 7.5 447 7984 0.00 2.28 0.00 0.000 6 0.000 0.051 2878 1739 1646

8295 0.84 245.1 295.8 9.2 463 8299 0.00 2.33 0.00 0.000 4 0.000 0.066 2878 3163 1643

8311 0.84 245.1 294.0 9.4 463 8318 0.12 2.25 0.00 0.000 6 0.135 0.050 2853 1739 1642

8629 1.04 284.9 272.6 5.7 479 8668 0.17 0.00 35.78 1.011 6 0.068 0.000 2931 1739 1488

8977 0.95 284.9 235.0 11.4 496 8982 0.17 2.35 0.00 0.000 4 0.130 0.066 2879 3158 1483

8999 0.95 284.9 232.7 9.3 497 9003 0.00 2.28 0.00 0.000 6 0.000 0.051 2885 1729 1482

9327 1.09 314.5 210.9 6.1 513 9356 0.12 0.00 26.48 0.979 6 0.080 0.000 2942 1729 1368

9656 1.02 314.5 176.6 9.9 529 9660 0.15 2.38 0.00 0.000 4 0.130 0.068 2898 3164 1363

9673 1.02 314.5 175.1 8.9 530 9677 0.00 2.28 0.00 0.000 6 0.000 0.052 2905 1731 1362

10007 1.13 314.5 151.5 8.5 546 10008 0.00 0.00 0.00 0.000 6 0.000 0.000 2905 1731 1361

10315 1.33 366.4 132.1 5.4 561 10367 0.20 2.45 46.00 0.960 4 0.068 0.071 2994 3151 1156

10375 1.12 366.4 126.5 12.0 563 10382 0.30 2.33 0.00 0.000 6 0.142 0.053 2919 1735 1155

10691 1.30 389.4 104.0 6.3 579 10717 0.15 2.38 20.05 0.913 4 0.071 0.068 2993 319 1062

10758 1.24 389.4 98.4 10.0 582 10765 0.17 2.38 0.00 0.000 6 0.133 0.058 2944 1743 1061

11104 1.24 389.4 72.2 9.8 643 11111 0.00 2.33 0.00 0.000 4 0.000 0.074 2944 3158 1057

11119 1.24 389.4 70.8 10.0 645 11125 0.00 2.30 0.00 0.000 6 0.000 0.056 2952 1732 1057

11464 1.24 389.4 38.5 9.6 706 11469 0.00 0.00 0.00 0.000 6 0.000 0.000 2952 1732 1055

11778 end climb: FINISH_DEPTH_REACHED

state 11778 begin subsurface finish

11787 0.10 83.5 6.7 -11.0 762 11841 0.80 2.40 -46.05 0.000 4 0.135 0.085 2690 3161 2311

11842 end subsurface finish: CONTROL_FINISHED_OK

state 11842 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	535	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	27	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	500	CALL_NDIVES	1	R_STBD_OVSHOOT	19	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	202120,6633.087,-6012.624,0,2098.0,0,-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	3.20	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-9.7	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	202120,6633.087,-6012.624,0,2098.0,0,-37.3	MHEAD_RNG_PITCHd_Wd	343.9,27705,-13.0,-7.021
SPEED_LIMITS	0.122,0.233	D_GRID	516

FREEZE	6.71,-1.776,-1.771	TCM_TEMP	14.80
FINISH1	6.7,1.025950,83	XPDR_PINGS	150
FINISH2	3.8	_24V_AH	21.7,86.429
RAFOS_CLK	548	_10V_AH	10.4,39.596
RAFOS	2,1230625446,8.416667,8.401667,64,60,58,56,51,49,191,206,162,122,218,92	DATA_FILE_SIZE	25307,771
RAFOS_FIX	6633.087402,-6012.624023,291208,202020,2,98,0.15	CAP_FILE_SIZE	97714,0
IRIDIUM_FIX	6614.97,-5735.48,170398,050547	CFSIZE	260165632,216670208
TT8_MAMPS	0.028379	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
HUMID	1831	SOUNDSPEED	1444.4
INTERNAL_PRESSURE	9.89296	GPS	291208,202120,6633.087,-6012.624,0,2098.0,0,-37.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	6	177	26.55	SBE_CT	539	24	281.14
Roll_motor	101	87	192.82	SBE_O2	0	0	0.00
VBD_pump_during_apogee	473	1138	11699.41	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	37	420	341.77
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	0	50	0.00
TT8	1402	19	290.46
LPSleep	8175	2	196.40
TT8_Active	530	19	109.87
TT8_Sampling	1571	39	652.30
TT8_CF8	218	45	104.50
TT8_Kalman	0	0	0.00
Analog_circuits	1394	12	173.98
GPS_charging	0	0	0.00
Compass	1556	8	129.49
RAFOS	720	1	11.23
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
17	-0.99	-146.0	0.0	0.0	0	24	0.00	0.00	-5.30	0.000	2	0.000	0.000	2691	3155	2435
28	-0.99	-146.0	3.2	-0.0	1	68	0.60	0.00	-36.85	0.000	6	0.053	0.000	2447	3156	3247
407	-0.74	-146.0	44.8	-14.6	68	413	0.25	0.00	0.00	0.000	6	0.178	0.000	2517	3156	3252
753	-0.74	-146.0	81.3	-10.6	129	759	0.00	0.73	0.00	0.000	4	0.000	0.087	2516	3599	3253
1012	-0.74	-146.0	108.8	-11.0	164	1015	0.00	2.20	0.00	0.000	6	0.000	0.054	2516	2223	3253
1335	-0.74	-146.0	138.4	-9.2	180	1339	0.00	2.33	0.00	0.000	4	0.000	0.079	2506	3602	3253
1464	-0.74	-146.0	151.9	-10.4	185	1470	0.00	2.20	0.00	0.000	6	0.000	0.054	2506	2215	3252
1780	-0.74	-146.0	178.9	-8.3	201	1784	0.00	2.25	0.00	0.000	4	0.000	0.066	2506	822	3252
1882	-0.74	-146.0	188.2	-9.2	205	1886	0.10	2.38	0.00	0.000	6	0.146	0.067	2522	2240	3252
2198	-0.82	-146.0	210.1	-5.9	220	2200	0.00	0.00	0.00	0.000	6	0.000	0.000	2522	2240	3252
2508	-0.92	-146.0	228.9	-6.0	235	2513	0.15	2.35	0.00	0.000	4	0.083	0.064	2461	816	3252
2571	-0.76	-146.0	234.0	-8.4	238	2576	0.22	2.35	0.00	0.000	6	0.135	0.071	2513	2231	3252
2905	-0.84	-146.0	258.7	-9.1	254	2909	0.00	2.25	0.00	0.000	4	0.000	0.081	2504	3606	3252
2961	-0.94	-146.0	264.4	-9.7	256	2965	0.10	2.20	0.00	0.000	6	0.094	0.054	2460	2213	3252
3282	-0.84	-146.0	295.2	-9.1	272	3287	0.15	2.25	0.00	0.000	4	0.146	0.064	2501	823	3252
3419	-0.84	-146.0	307.0	-8.5	278	3423	0.00	2.40	0.00	0.000	6	0.000	0.067	2493	2247	3251
3746	-0.84	-146.0	327.5	-6.0	294	3750	0.00	2.25	0.00	0.000	4	0.000	0.080	2483	3608	3251
3839	-0.90	-146.0	333.4	-6.8	298	3843	0.00	2.20	0.00	0.000	6	0.000	0.053	2483	2221	3251
4172	-0.90	-146.0	354.0	-6.0	314	4176	0.00	2.28	0.00	0.000	4	0.000	0.065	2483	811	3251
4312	-0.90	-146.0	363.5	-7.2	320	4316	0.00	2.38	0.00	0.000	6	0.000	0.065	2473	2238	3251
4640	-0.90	-146.0	385.4	-6.6	336	4644	0.00	2.25	0.00	0.000	4	0.000	0.078	2462	3605	3252
4731	-0.90	-146.0	391.8	-7.3	340	4735	0.10	2.20	0.00	0.000	6	0.150	0.053	2487	2211	3251
5082	-0.90	-146.0	411.7	-5.5	352	5086	0.00	2.22	0.00	0.000	4	0.000	0.064	2487	816	3251
5160	-0.90	-146.0	416.9	-6.3	353	5164	0.00	2.35	0.00	0.000	6	0.000	0.064	2479	2234	3252
5499	-0.90	-146.0	437.8	-6.2	362	5503	0.00	2.25	0.00	0.000	4	0.000	0.077	2469	3608	3252
5618	-0.90	-146.0	446.4	-7.6	364	5622	0.00	2.17	0.00	0.000	6	0.000	0.051	2469	2224	3252
5961	-1.35	-146.0	452.9	0.0	373	5966	0.22	2.25	0.00	0.000	4	0.067	0.061	2370	811	3253
5997	end dive: NO_VERTICAL_VELOCITY
state	5997	begin apogee
6007	-0.31	0.0	452.9	0.0	373	6137	0.73	0.00	126.82	1.139	6	0.101	0.000	2613	1749	2650
6137	end apogee: CONTROL_FINISHED_OK
state	6137	begin climb
6142	0.99	146.0	452.6	0.0	377	6280	0.88	2.60	131.05	1.063	4	0.099	0.067	2892	3157	2054
6436	0.70	146.0	425.8	11.7	383	6443	0.28	2.40	0.00	0.000	6	0.135	0.051	2828	1740	2048
6768	0.82	185.8	405.1	5.7	392	6811	0.12	2.40	34.15	1.049	4	0.077	0.067	2883	3159	1892
6834	0.63	185.8	398.9	10.4	393	6839	0.28	2.33	0.00	0.000	6	0.131	0.051	2814	1729	1890
7163	0.89	198.9	377.7	6.6	409	7177	0.20	0.00	11.85	0.970	6	0.077	0.000	2893	1729	1839
7494	0.95	198.9	350.5	7.5	425	7498	0.00	2.33	0.00	0.000	4	0.000	0.067	2893	3156	1838
7524	0.88	198.9	348.2	8.0	426	7528	0.12	2.25	0.00	0.000	6	0.148	0.051	2871	1730	1837
7851	0.94	245.1	328.6	5.5	442	7897	0.00	2.40	41.17	1.040	4	0.000	0.067	2870	3161	1650
7977	0.84	245.1	320.5	7.5	447	7984	0.00	2.28	0.00	0.000	6	0.000	0.051	2878	1739	1646
8295	0.84	245.1	295.8	9.2	463	8299	0.00	2.33	0.00	0.000	4	0.000	0.066	2878	3163	1643
8311	0.84	245.1	294.0	9.4	463	8318	0.12	2.25	0.00	0.000	6	0.135	0.050	2853	1739	1642
8629	1.04	284.9	272.6	5.7	479	8668	0.17	0.00	35.78	1.011	6	0.068	0.000	2931	1739	1488
8977	0.95	284.9	235.0	11.4	496	8982	0.17	2.35	0.00	0.000	4	0.130	0.066	2879	3158	1483
8999	0.95	284.9	232.7	9.3	497	9003	0.00	2.28	0.00	0.000	6	0.000	0.051	2885	1729	1482
9327	1.09	314.5	210.9	6.1	513	9356	0.12	0.00	26.48	0.979	6	0.080	0.000	2942	1729	1368
9656	1.02	314.5	176.6	9.9	529	9660	0.15	2.38	0.00	0.000	4	0.130	0.068	2898	3164	1363
9673	1.02	314.5	175.1	8.9	530	9677	0.00	2.28	0.00	0.000	6	0.000	0.052	2905	1731	1362
10007	1.13	314.5	151.5	8.5	546	10008	0.00	0.00	0.00	0.000	6	0.000	0.000	2905	1731	1361
10315	1.33	366.4	132.1	5.4	561	10367	0.20	2.45	46.00	0.960	4	0.068	0.071	2994	3151	1156
10375	1.12	366.4	126.5	12.0	563	10382	0.30	2.33	0.00	0.000	6	0.142	0.053	2919	1735	1155
10691	1.30	389.4	104.0	6.3	579	10717	0.15	2.38	20.05	0.913	4	0.071	0.068	2993	319	1062
10758	1.24	389.4	98.4	10.0	582	10765	0.17	2.38	0.00	0.000	6	0.133	0.058	2944	1743	1061
11104	1.24	389.4	72.2	9.8	643	11111	0.00	2.33	0.00	0.000	4	0.000	0.074	2944	3158	1057
11119	1.24	389.4	70.8	10.0	645	11125	0.00	2.30	0.00	0.000	6	0.000	0.056	2952	1732	1057
11464	1.24	389.4	38.5	9.6	706	11469	0.00	0.00	0.00	0.000	6	0.000	0.000	2952	1732	1055
11778	end climb: FINISH_DEPTH_REACHED
state	11778	begin subsurface finish
11787	0.10	83.5	6.7	-11.0	762	11841	0.80	2.40	-46.05	0.000	4	0.135	0.085	2690	3161	2311
11842	end subsurface finish: CONTROL_FINISHED_OK
state	11842	begin surface