Glider dive log

DavisStrait Sep08 * SG108 * Dive index * Mission links * Dive 603 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 108 HEADING 85 PITCH_ADJ_DBAND 1 ALTIM_TOP_TURN_MARGIN 5

MISSION 11 ESCAPE_HEADING 80 ROLL_MIN 294 ALTIM_TOP_MIN_OBSTACLE 1.8

DIVE 603 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 23 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 -127860.21 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 -127860.21

CAPMAXSIZE 100000 HD_C 2.7999999e-06 RHO 1.02765 T_MISSION 550

CAPUPLOAD 0 HEADING 85 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 23 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 603 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 161144,6636.426,-6052.079,0,2069.0,0,-37.3 TGT_NAME HEADING

_CALLS 3 TGT_LATLONG 6637.367,-6024.965

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 4.40 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -5.4 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 161144,6636.426,-6052.079,0,2069.0,0,-37.3 MHEAD_RNG_PITCHd_Wd 122.3,20000,-13.0,-7.021

SPEED_LIMITS 0.122,0.233 D_GRID 386

Post-dive calculations and measurements:

FREEZE 1.77,-1.883,-0.782 XPDR_PINGS 200

FINISH 1.8,1.011470 _24V_AH 21.5,93.094

SM_CCo 10113,0.00,0.000,0,0,1334,322.81 _10V_AH 10.3,41.615

SM_GC 2.49,7.25,0.00,0.00,0.064,0.000,0.000,336,2242,1334,-10.69,0.34,322.81 DATA_FILE_SIZE 25202,745

RAFOS_CLK 474 CAP_FILE_SIZE 93601,0

RAFOS 0,1230984257,12.083333,12.071389,161,66,63,61,60,59,551,205,158,133,214,122 CFSIZE 260165632,214573056

RAFOS_FIX 6636.425781,-6052.078613,020109,161644,2,69,0.09 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

IRIDIUM_FIX 6614.97,-5735.48,170398,050547 SOUNDSPEED 1442.8

TT8_MAMPS 0.029146 GPS 030109,123701,6637.797,-6039.605,37,1.2,37,-38.0

HUMID 1843 ESCAPE_REASON NO_RECENT_FIX

INTERNAL_PRESSURE 9.81483 ESCAPE_STARTED_DIVE 581

TCM_TEMP 14.70

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 13 158 46.71 SBE_CT 521 24 269.30

Roll_motor 106 98 226.18 SBE_O2 0 0 0.00

VBD_pump_during_apogee 413 1121 9961.28 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 50 420 451.50

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 0 50 0.00

TT8 1353 19 277.70

LPSleep 6747 2 160.55

TT8_Active 458 19 94.17

TT8_Sampling 1378 39 566.67

TT8_CF8 236 45 111.93

TT8_Kalman 0 0 0.00

Analog_circuits 1228 12 151.83

GPS_charging 0 0 0.00

Compass 1367 8 112.70

RAFOS 1440 1 22.25

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 -5.38 0.000 2 0.000 0.000 2702 331 2433

28 -0.99 -146.0 3.4 -0.0 1 69 0.62 0.80 -33.90 0.000 4 0.050 0.099 2440 832 3248

303 -0.60 -146.0 40.0 -14.7 49 310 0.43 2.28 0.00 0.000 6 0.146 0.066 2552 2244 3253

650 -0.70 -146.0 67.3 -7.6 110 657 0.10 2.20 0.00 0.000 4 0.087 0.077 2499 3595 3253

681 -0.70 -146.0 70.4 -9.2 115 688 0.12 2.17 0.00 0.000 6 0.154 0.053 2531 2213 3253

1036 -0.75 -146.0 104.3 -9.3 172 1039 0.00 2.25 0.00 0.000 4 0.000 0.067 2531 810 3253

1047 -0.75 -146.0 105.5 -9.1 172 1051 0.00 2.35 0.00 0.000 6 0.000 0.063 2522 2244 3253

1368 -0.75 -146.0 131.9 -7.5 188 1370 0.00 0.00 0.00 0.000 6 0.000 0.000 2522 2244 3253

1678 -0.75 -146.0 158.6 -8.7 203 1680 0.00 0.00 0.00 0.000 6 0.000 0.000 2522 2244 3253

1989 -0.79 -146.0 186.1 -8.9 218 1993 0.00 2.35 0.00 0.000 4 0.000 0.067 2522 811 3252

2024 -0.79 -146.0 189.4 -9.1 219 2028 0.00 2.35 0.00 0.000 6 0.000 0.064 2513 2241 3252

2348 -0.84 -146.0 212.7 -6.2 235 2352 0.00 2.22 0.00 0.000 4 0.000 0.081 2503 3597 3252

2360 -0.91 -146.0 213.6 -6.4 235 2363 0.00 2.17 0.00 0.000 6 0.000 0.054 2503 2218 3252

2681 -0.91 -146.0 237.9 -7.8 251 2685 0.00 2.25 0.00 0.000 4 0.000 0.067 2503 817 3252

2721 -0.91 -146.0 241.3 -8.8 252 2728 0.00 2.35 0.00 0.000 6 0.000 0.067 2493 2241 3252

3038 -0.91 -146.0 266.8 -7.6 268 3042 0.00 2.35 0.00 0.000 4 0.000 0.067 2492 811 3252

3100 -0.91 -146.0 272.1 -8.3 270 3107 0.00 2.35 0.00 0.000 6 0.000 0.065 2483 2231 3252

3417 -0.91 -146.0 295.4 -7.1 286 3421 0.00 2.25 0.00 0.000 4 0.000 0.079 2472 3605 3252

3430 -0.91 -146.0 296.3 -6.9 286 3433 0.00 2.20 0.00 0.000 6 0.000 0.053 2472 2212 3252

3751 -0.91 -146.0 320.2 -7.3 302 3756 0.00 2.33 0.00 0.000 4 0.000 0.077 2462 3604 3251

3769 -0.91 -146.0 321.5 -7.4 302 3775 0.00 2.17 0.00 0.000 6 0.000 0.052 2462 2222 3252

4086 -0.86 -146.0 345.7 -7.8 318 4091 0.12 2.33 0.00 0.000 4 0.153 0.077 2487 3605 3251

4252 -0.93 -146.0 357.5 -6.9 325 4256 0.00 2.17 0.00 0.000 6 0.000 0.052 2487 2223 3251

4576 -0.98 -146.0 377.8 -6.2 341 4580 0.00 2.25 0.00 0.000 4 0.000 0.065 2487 818 3252

4669 -0.98 -146.0 383.9 -6.6 345 4673 0.00 2.35 0.00 0.000 6 0.000 0.064 2477 2244 3252

4710 end dive: TARGET_DEPTH_EXCEEDED

state 4710 begin apogee

4719 -0.31 0.0 386.9 6.5 347 4853 0.45 0.00 126.10 1.121 6 0.130 0.000 2616 1744 2650

4853 end apogee: CONTROL_FINISHED_OK

state 4853 begin climb

4858 0.99 146.0 390.0 0.0 354 4997 0.88 2.67 131.07 1.039 4 0.100 0.066 2905 335 2054

5046 0.83 146.0 377.6 9.0 362 5053 0.17 2.55 0.00 0.000 6 0.137 0.054 2862 1749 2051

5364 0.84 155.1 356.2 6.7 378 5378 0.00 2.38 8.00 0.890 4 0.000 0.070 2862 3154 2017

5414 0.70 155.1 352.4 7.8 380 5418 0.15 2.30 0.00 0.000 6 0.139 0.053 2828 1733 2017

5736 0.89 228.4 336.7 4.7 396 5804 0.15 0.00 64.65 1.042 6 0.073 0.000 2894 1733 1718

6113 0.82 228.4 305.9 9.1 414 6118 0.15 2.38 0.00 0.000 4 0.132 0.067 2851 3167 1709

6158 0.82 228.4 302.1 7.9 416 6161 0.00 2.30 0.00 0.000 6 0.000 0.052 2858 1724 1708

6486 0.97 275.6 281.8 5.5 432 6534 0.12 2.45 41.33 1.015 4 0.079 0.068 2917 3152 1526

6558 0.81 275.6 275.1 10.7 435 6563 0.25 2.30 0.00 0.000 6 0.133 0.052 2855 1730 1523

6877 1.01 294.2 254.1 6.4 450 6900 0.15 2.30 16.80 0.961 4 0.074 0.067 2936 328 1450

6952 0.94 294.2 246.4 10.8 453 6957 0.20 2.33 0.00 0.000 6 0.133 0.056 2879 1753 1449

7280 1.08 294.2 221.5 7.2 469 7285 0.12 2.28 0.00 0.000 4 0.076 0.070 2938 3159 1446

7354 0.89 294.2 213.2 11.5 472 7358 0.28 2.28 0.00 0.000 6 0.133 0.053 2868 1727 1444

7670 1.46 294.2 191.7 7.5 487 7675 0.38 2.28 0.00 0.000 4 0.088 0.067 3002 328 1442

7740 1.15 294.2 185.3 11.4 490 7745 0.28 2.33 0.00 0.000 6 0.146 0.058 2924 1751 1442

8062 1.15 294.2 159.8 7.4 506 8066 0.00 2.28 0.00 0.000 4 0.000 0.073 2924 3157 1442

8164 1.06 294.2 150.3 9.6 510 8169 0.10 2.28 0.00 0.000 6 0.143 0.055 2905 1727 1441

8486 1.21 302.0 129.5 6.8 526 8500 0.12 2.35 6.78 0.839 4 0.077 0.068 2974 324 1418

8540 1.13 302.0 124.1 10.5 528 8545 0.17 2.33 0.00 0.000 6 0.133 0.058 2922 1749 1418

8861 1.24 320.6 100.5 6.4 543 8889 0.10 2.35 18.45 0.937 4 0.083 0.074 2967 3156 1342

8947 1.03 320.6 91.8 11.5 555 8954 0.28 2.28 0.00 0.000 6 0.135 0.055 2898 1738 1341

9294 1.52 320.6 67.5 8.0 616 9301 0.32 2.33 0.00 0.000 4 0.081 0.069 3017 324 1338

9366 1.35 320.6 60.4 10.4 628 9372 0.17 2.33 0.00 0.000 6 0.156 0.059 2972 1742 1338

9713 1.24 320.6 28.9 10.1 689 9719 0.10 2.30 0.00 0.000 4 0.158 0.074 2943 3150 1337

9800 1.16 320.6 19.6 11.9 704 9806 0.00 2.28 0.00 0.000 6 0.000 0.057 2951 1727 1337

9986 end climb: SURFACE_DEPTH_REACHED

state 9987 begin surface coast

10032 end surface coast: CONTROL_FINISHED_OK

state 10032 begin surface

ID	108	HEADING	85	PITCH_ADJ_DBAND	1	ALTIM_TOP_TURN_MARGIN	5
MISSION	11	ESCAPE_HEADING	80	ROLL_MIN	294	ALTIM_TOP_MIN_OBSTACLE	1.8
DIVE	603	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	23	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	-127860.21	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	161144,6636.426,-6052.079,0,2069.0,0,-37.3	TGT_NAME	HEADING
_CALLS	3	TGT_LATLONG	6637.367,-6024.965
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	4.40	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-5.4	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	161144,6636.426,-6052.079,0,2069.0,0,-37.3	MHEAD_RNG_PITCHd_Wd	122.3,20000,-13.0,-7.021
SPEED_LIMITS	0.122,0.233	D_GRID	386

FREEZE	1.77,-1.883,-0.782	XPDR_PINGS	200
FINISH	1.8,1.011470	_24V_AH	21.5,93.094
SM_CCo	10113,0.00,0.000,0,0,1334,322.81	_10V_AH	10.3,41.615
SM_GC	2.49,7.25,0.00,0.00,0.064,0.000,0.000,336,2242,1334,-10.69,0.34,322.81	DATA_FILE_SIZE	25202,745
RAFOS_CLK	474	CAP_FILE_SIZE	93601,0
RAFOS	0,1230984257,12.083333,12.071389,161,66,63,61,60,59,551,205,158,133,214,122	CFSIZE	260165632,214573056
RAFOS_FIX	6636.425781,-6052.078613,020109,161644,2,69,0.09	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
IRIDIUM_FIX	6614.97,-5735.48,170398,050547	SOUNDSPEED	1442.8
TT8_MAMPS	0.029146	GPS	030109,123701,6637.797,-6039.605,37,1.2,37,-38.0
HUMID	1843	ESCAPE_REASON	NO_RECENT_FIX
INTERNAL_PRESSURE	9.81483	ESCAPE_STARTED_DIVE	581
TCM_TEMP	14.70

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	13	158	46.71	SBE_CT	521	24	269.30
Roll_motor	106	98	226.18	SBE_O2	0	0	0.00
VBD_pump_during_apogee	413	1121	9961.28	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	50	420	451.50
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	0	50	0.00
TT8	1353	19	277.70
LPSleep	6747	2	160.55
TT8_Active	458	19	94.17
TT8_Sampling	1378	39	566.67
TT8_CF8	236	45	111.93
TT8_Kalman	0	0	0.00
Analog_circuits	1228	12	151.83
GPS_charging	0	0	0.00
Compass	1367	8	112.70
RAFOS	1440	1	22.25
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	-5.38	0.000	2	0.000	0.000	2702	331	2433
28	-0.99	-146.0	3.4	-0.0	1	69	0.62	0.80	-33.90	0.000	4	0.050	0.099	2440	832	3248
303	-0.60	-146.0	40.0	-14.7	49	310	0.43	2.28	0.00	0.000	6	0.146	0.066	2552	2244	3253
650	-0.70	-146.0	67.3	-7.6	110	657	0.10	2.20	0.00	0.000	4	0.087	0.077	2499	3595	3253
681	-0.70	-146.0	70.4	-9.2	115	688	0.12	2.17	0.00	0.000	6	0.154	0.053	2531	2213	3253
1036	-0.75	-146.0	104.3	-9.3	172	1039	0.00	2.25	0.00	0.000	4	0.000	0.067	2531	810	3253
1047	-0.75	-146.0	105.5	-9.1	172	1051	0.00	2.35	0.00	0.000	6	0.000	0.063	2522	2244	3253
1368	-0.75	-146.0	131.9	-7.5	188	1370	0.00	0.00	0.00	0.000	6	0.000	0.000	2522	2244	3253
1678	-0.75	-146.0	158.6	-8.7	203	1680	0.00	0.00	0.00	0.000	6	0.000	0.000	2522	2244	3253
1989	-0.79	-146.0	186.1	-8.9	218	1993	0.00	2.35	0.00	0.000	4	0.000	0.067	2522	811	3252
2024	-0.79	-146.0	189.4	-9.1	219	2028	0.00	2.35	0.00	0.000	6	0.000	0.064	2513	2241	3252
2348	-0.84	-146.0	212.7	-6.2	235	2352	0.00	2.22	0.00	0.000	4	0.000	0.081	2503	3597	3252
2360	-0.91	-146.0	213.6	-6.4	235	2363	0.00	2.17	0.00	0.000	6	0.000	0.054	2503	2218	3252
2681	-0.91	-146.0	237.9	-7.8	251	2685	0.00	2.25	0.00	0.000	4	0.000	0.067	2503	817	3252
2721	-0.91	-146.0	241.3	-8.8	252	2728	0.00	2.35	0.00	0.000	6	0.000	0.067	2493	2241	3252
3038	-0.91	-146.0	266.8	-7.6	268	3042	0.00	2.35	0.00	0.000	4	0.000	0.067	2492	811	3252
3100	-0.91	-146.0	272.1	-8.3	270	3107	0.00	2.35	0.00	0.000	6	0.000	0.065	2483	2231	3252
3417	-0.91	-146.0	295.4	-7.1	286	3421	0.00	2.25	0.00	0.000	4	0.000	0.079	2472	3605	3252
3430	-0.91	-146.0	296.3	-6.9	286	3433	0.00	2.20	0.00	0.000	6	0.000	0.053	2472	2212	3252
3751	-0.91	-146.0	320.2	-7.3	302	3756	0.00	2.33	0.00	0.000	4	0.000	0.077	2462	3604	3251
3769	-0.91	-146.0	321.5	-7.4	302	3775	0.00	2.17	0.00	0.000	6	0.000	0.052	2462	2222	3252
4086	-0.86	-146.0	345.7	-7.8	318	4091	0.12	2.33	0.00	0.000	4	0.153	0.077	2487	3605	3251
4252	-0.93	-146.0	357.5	-6.9	325	4256	0.00	2.17	0.00	0.000	6	0.000	0.052	2487	2223	3251
4576	-0.98	-146.0	377.8	-6.2	341	4580	0.00	2.25	0.00	0.000	4	0.000	0.065	2487	818	3252
4669	-0.98	-146.0	383.9	-6.6	345	4673	0.00	2.35	0.00	0.000	6	0.000	0.064	2477	2244	3252
4710	end dive: TARGET_DEPTH_EXCEEDED
state	4710	begin apogee
4719	-0.31	0.0	386.9	6.5	347	4853	0.45	0.00	126.10	1.121	6	0.130	0.000	2616	1744	2650
4853	end apogee: CONTROL_FINISHED_OK
state	4853	begin climb
4858	0.99	146.0	390.0	0.0	354	4997	0.88	2.67	131.07	1.039	4	0.100	0.066	2905	335	2054
5046	0.83	146.0	377.6	9.0	362	5053	0.17	2.55	0.00	0.000	6	0.137	0.054	2862	1749	2051
5364	0.84	155.1	356.2	6.7	378	5378	0.00	2.38	8.00	0.890	4	0.000	0.070	2862	3154	2017
5414	0.70	155.1	352.4	7.8	380	5418	0.15	2.30	0.00	0.000	6	0.139	0.053	2828	1733	2017
5736	0.89	228.4	336.7	4.7	396	5804	0.15	0.00	64.65	1.042	6	0.073	0.000	2894	1733	1718
6113	0.82	228.4	305.9	9.1	414	6118	0.15	2.38	0.00	0.000	4	0.132	0.067	2851	3167	1709
6158	0.82	228.4	302.1	7.9	416	6161	0.00	2.30	0.00	0.000	6	0.000	0.052	2858	1724	1708
6486	0.97	275.6	281.8	5.5	432	6534	0.12	2.45	41.33	1.015	4	0.079	0.068	2917	3152	1526
6558	0.81	275.6	275.1	10.7	435	6563	0.25	2.30	0.00	0.000	6	0.133	0.052	2855	1730	1523
6877	1.01	294.2	254.1	6.4	450	6900	0.15	2.30	16.80	0.961	4	0.074	0.067	2936	328	1450
6952	0.94	294.2	246.4	10.8	453	6957	0.20	2.33	0.00	0.000	6	0.133	0.056	2879	1753	1449
7280	1.08	294.2	221.5	7.2	469	7285	0.12	2.28	0.00	0.000	4	0.076	0.070	2938	3159	1446
7354	0.89	294.2	213.2	11.5	472	7358	0.28	2.28	0.00	0.000	6	0.133	0.053	2868	1727	1444
7670	1.46	294.2	191.7	7.5	487	7675	0.38	2.28	0.00	0.000	4	0.088	0.067	3002	328	1442
7740	1.15	294.2	185.3	11.4	490	7745	0.28	2.33	0.00	0.000	6	0.146	0.058	2924	1751	1442
8062	1.15	294.2	159.8	7.4	506	8066	0.00	2.28	0.00	0.000	4	0.000	0.073	2924	3157	1442
8164	1.06	294.2	150.3	9.6	510	8169	0.10	2.28	0.00	0.000	6	0.143	0.055	2905	1727	1441
8486	1.21	302.0	129.5	6.8	526	8500	0.12	2.35	6.78	0.839	4	0.077	0.068	2974	324	1418
8540	1.13	302.0	124.1	10.5	528	8545	0.17	2.33	0.00	0.000	6	0.133	0.058	2922	1749	1418
8861	1.24	320.6	100.5	6.4	543	8889	0.10	2.35	18.45	0.937	4	0.083	0.074	2967	3156	1342
8947	1.03	320.6	91.8	11.5	555	8954	0.28	2.28	0.00	0.000	6	0.135	0.055	2898	1738	1341
9294	1.52	320.6	67.5	8.0	616	9301	0.32	2.33	0.00	0.000	4	0.081	0.069	3017	324	1338
9366	1.35	320.6	60.4	10.4	628	9372	0.17	2.33	0.00	0.000	6	0.156	0.059	2972	1742	1338
9713	1.24	320.6	28.9	10.1	689	9719	0.10	2.30	0.00	0.000	4	0.158	0.074	2943	3150	1337
9800	1.16	320.6	19.6	11.9	704	9806	0.00	2.28	0.00	0.000	6	0.000	0.057	2951	1727	1337
9986	end climb: SURFACE_DEPTH_REACHED
state	9987	begin surface coast
10032	end surface coast: CONTROL_FINISHED_OK
state	10032	begin surface