Glider dive log

DavisStrait Sep08 * SG108 * Dive index * Mission links * Dive 608 * 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 608 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 24 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 1 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 -127876.09 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 -127876.09

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 1

C_ROLL_DIVE 2230 MASS 51779 R_PORT_OVSHOOT 26 VBD_BLEED_AD_RATE 8

C_VBD 2650 MAX_BUOY 150 R_STBD_OVSHOOT 24 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 608 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 124944,6637.667,-6039.743,13,0.9,13,-38.0 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG 6638.608,-6012.607

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 4.35 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -5.3 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 124944,6637.667,-6039.743,13,0.9,13,-38.0 MHEAD_RNG_PITCHd_Wd 123.0,20000,-13.0,-7.021

SPEED_LIMITS 0.122,0.233 D_GRID 455

Post-dive calculations and measurements:

FREEZE 6.68,-1.786,-1.770 XPDR_PINGS 122

FINISH1 6.7,1.025945,84 _24V_AH 21.5,93.809

FINISH2 3.1 _10V_AH 10.4,41.860

RAFOS_CLK 549 DATA_FILE_SIZE 25262,790

RAFOS 0,1231041848,4.083333,4.068889,92,59,59,59,54,53,584,195,219,170,138,121 CAP_FILE_SIZE 103189,0

RAFOS_FIX 6636.425781,-6052.078613,020109,161644,2,69,0.09 CFSIZE 260165632,214306816

IRIDIUM_FIX 6614.97,-5735.48,170398,050547 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TT8_MAMPS 0.026845 SOUNDSPEED 1444.1

HUMID 1829 GPS 030109,124944,6637.667,-6039.743,13,0.9,13,-38.0

INTERNAL_PRESSURE 9.90272 ESCAPE_REASON NO_RECENT_FIX

TCM_TEMP 14.80 ESCAPE_STARTED_DIVE 581

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 8 167 31.46 SBE_CT 551 24 284.50

Roll_motor 121 79 206.24 SBE_O2 0 0 0.00

VBD_pump_during_apogee 504 1148 12457.93 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 30 420 275.42

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 0 50 0.00

TT8 1410 19 292.13

LPSleep 8117 2 195.02

TT8_Active 575 19 119.32

TT8_Sampling 1468 39 609.51

TT8_CF8 265 45 126.64

TT8_Kalman 0 0 0.00

Analog_circuits 1410 12 175.99

GPS_charging 0 0 0.00

Compass 1453 8 120.89

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

11 end surface: CONTROL_FINISHED_OK

state 12 begin dive

16 -0.99 -146.0 0.0 0.0 0 24 0.00 0.00 -5.43 0.000 2 0.000 0.000 2695 3164 2439

28 -0.99 -146.0 3.6 -0.0 1 70 0.62 3.85 -33.22 0.000 4 0.064 0.066 2466 803 3247

151 -0.69 -146.0 14.8 -12.6 22 158 0.25 2.35 0.00 0.000 6 0.140 0.062 2529 2241 3251

498 -0.69 -146.0 49.2 -7.3 83 504 0.00 2.33 0.00 0.000 4 0.000 0.064 2534 814 3251

518 -0.69 -146.0 50.8 -7.6 86 524 0.00 2.33 0.00 0.000 6 0.000 0.063 2525 2236 3251

863 -0.69 -146.0 80.0 -8.4 147 869 0.00 2.33 0.00 0.000 4 0.000 0.065 2525 815 3251

894 -0.69 -146.0 83.1 -9.7 152 900 0.00 2.33 0.00 0.000 6 0.000 0.062 2515 2236 3251

1236 -0.69 -146.0 117.2 -9.8 191 1240 0.00 2.22 0.00 0.000 4 0.000 0.078 2504 3602 3251

1261 -0.69 -146.0 119.8 -11.6 192 1266 0.10 2.17 0.00 0.000 6 0.155 0.052 2529 2216 3251

1595 -0.76 -146.0 146.9 -6.3 208 1599 0.00 2.22 0.00 0.000 4 0.000 0.065 2529 825 3251

1609 -0.82 -146.0 147.7 -6.3 208 1613 0.00 2.33 0.00 0.000 6 0.000 0.064 2521 2234 3251

1931 -0.88 -146.0 169.3 -7.4 224 1936 0.12 2.22 0.00 0.000 4 0.084 0.079 2455 3599 3250

1943 -0.88 -146.0 170.3 -7.5 224 1947 0.12 2.17 0.00 0.000 6 0.163 0.053 2489 2214 3250

2264 -0.88 -146.0 198.7 -8.3 240 2268 0.00 2.30 0.00 0.000 4 0.000 0.077 2482 3597 3250

2337 -0.88 -146.0 205.8 -9.3 243 2341 0.00 2.17 0.00 0.000 6 0.000 0.053 2482 2214 3250

2666 -0.83 -146.0 235.8 -8.6 259 2667 0.00 0.00 0.00 0.000 6 0.000 0.000 2482 2214 3250

2974 -0.83 -146.0 257.9 -5.8 274 2976 0.00 0.00 0.00 0.000 6 0.000 0.000 2482 2214 3250

3284 -0.83 -146.0 273.5 -5.6 289 3288 0.00 2.33 0.00 0.000 4 0.000 0.078 2472 3608 3250

3336 -0.83 -146.0 276.9 -6.8 291 3340 0.12 2.17 0.00 0.000 6 0.151 0.053 2504 2227 3250

3663 -0.91 -146.0 300.0 -7.8 307 3664 0.00 0.00 0.00 0.000 6 0.000 0.000 2504 2227 3250

3974 -0.99 -146.0 322.9 -6.9 322 3978 0.15 2.28 0.00 0.000 4 0.086 0.064 2445 814 3250

3997 -0.89 -146.0 324.9 -8.1 323 4002 0.20 2.35 0.00 0.000 6 0.140 0.065 2490 2241 3250

4325 -0.89 -146.0 345.8 -5.7 339 4329 0.00 2.33 0.00 0.000 4 0.000 0.065 2491 823 3250

4337 -0.89 -146.0 346.6 -5.6 339 4341 0.00 2.35 0.00 0.000 6 0.000 0.064 2484 2241 3250

4660 -0.89 -146.0 366.6 -6.4 355 4664 0.00 2.22 0.00 0.000 4 0.000 0.077 2473 3603 3250

4707 -0.89 -146.0 369.7 -6.9 357 4710 0.00 2.17 0.00 0.000 6 0.000 0.052 2473 2220 3250

5041 -0.89 -146.0 392.2 -6.8 373 5045 0.00 2.30 0.00 0.000 4 0.000 0.076 2463 3600 3250

5075 -0.89 -146.0 394.9 -8.1 374 5079 0.10 2.17 0.00 0.000 6 0.153 0.051 2487 2215 3250

5414 -0.95 -146.0 416.7 -6.2 385 5418 0.00 2.22 0.00 0.000 4 0.000 0.063 2488 820 3250

5482 -0.95 -146.0 421.1 -6.4 386 5487 0.00 2.33 0.00 0.000 6 0.000 0.064 2480 2237 3249

5832 -0.95 -146.0 442.8 -6.5 395 5833 0.00 0.00 0.00 0.000 6 0.000 0.000 2480 2237 3250

6031 end dive: TARGET_DEPTH_EXCEEDED

state 6031 begin apogee

6040 -0.31 0.0 455.5 6.1 400 6169 0.43 0.00 126.85 1.148 6 0.127 0.000 2612 1737 2650

6170 end apogee: CONTROL_FINISHED_OK

state 6170 begin climb

6175 0.99 146.0 458.4 0.0 403 6311 0.90 0.00 132.48 1.068 6 0.100 0.000 2897 1737 2054

6624 0.82 146.0 420.4 9.3 414 6629 0.15 2.40 0.00 0.000 4 0.130 0.067 2866 319 2048

6658 0.82 146.0 417.5 7.5 414 6664 0.00 2.40 0.00 0.000 6 0.000 0.054 2865 1752 2048

6972 0.77 146.0 392.6 7.8 424 6976 0.00 2.28 0.00 0.000 4 0.000 0.069 2866 3160 2047

7006 0.62 146.0 389.4 8.9 425 7011 0.22 2.28 0.00 0.000 6 0.133 0.052 2810 1729 2046

7323 1.01 190.6 373.0 5.6 440 7368 0.25 2.45 38.00 1.061 4 0.067 0.064 2916 3159 1872

7492 0.71 190.6 355.8 11.6 447 7497 0.32 2.28 0.00 0.000 6 0.135 0.051 2831 1731 1868

7810 0.87 201.5 335.3 6.7 462 7825 0.12 2.30 9.57 0.939 4 0.071 0.066 2903 333 1828

7855 0.79 201.5 331.1 10.3 464 7860 0.20 2.30 0.00 0.000 6 0.131 0.051 2845 1752 1829

8183 0.91 201.5 305.8 7.8 480 8188 0.12 2.25 0.00 0.000 4 0.075 0.064 2904 3157 1827

8262 0.69 201.5 296.7 11.9 483 8269 0.30 2.25 0.00 0.000 6 0.132 0.052 2825 1732 1826

8582 1.08 201.5 273.6 7.4 499 8587 0.25 2.33 0.00 0.000 4 0.074 0.064 2926 3160 1826

8713 0.80 201.5 259.4 12.0 505 8718 0.30 2.25 0.00 0.000 6 0.133 0.051 2847 1731 1826

9044 1.05 254.1 241.1 5.3 521 9101 0.20 2.45 47.28 1.009 4 0.075 0.064 2926 3162 1613

9143 0.82 254.1 232.0 10.6 525 9150 0.28 2.30 0.00 0.000 6 0.132 0.052 2857 1735 1610

9459 1.00 254.1 209.4 7.2 541 9464 0.15 2.30 0.00 0.000 4 0.074 0.067 2935 332 1606

9505 0.93 254.1 204.7 10.2 543 9510 0.20 2.30 0.00 0.000 6 0.133 0.054 2878 1750 1606

9830 1.09 276.1 182.0 6.3 559 9856 0.15 2.33 19.58 0.959 4 0.070 0.068 2945 3154 1524

9897 0.86 276.1 175.2 11.7 562 9902 0.30 2.28 0.00 0.000 6 0.133 0.054 2866 1731 1523

10226 1.47 276.1 149.7 7.5 578 10231 0.38 2.30 0.00 0.000 4 0.096 0.067 2997 327 1519

10267 1.36 276.1 145.8 10.9 580 10272 0.10 2.30 0.00 0.000 6 0.167 0.056 2974 1741 1520

10602 1.23 276.1 106.6 10.8 596 10606 0.10 2.28 0.00 0.000 4 0.152 0.070 2945 3151 1519

10647 1.10 276.1 101.6 10.1 598 10652 0.12 2.25 0.00 0.000 6 0.140 0.054 2919 1732 1517

10990 1.17 276.1 77.2 7.5 655 10996 0.00 2.30 0.00 0.000 4 0.000 0.071 2928 325 1517

11077 1.26 294.9 71.3 6.4 670 11102 0.10 2.30 17.12 0.913 6 0.084 0.057 2972 1738 1447

11446 1.14 294.9 37.5 7.5 734 11453 0.17 2.35 0.00 0.000 4 0.130 0.067 2928 330 1444

11489 1.37 425.3 35.8 2.8 741 11611 0.17 2.30 113.78 0.881 6 0.071 0.056 2998 1744 915

11712 end climb: FINISH_DEPTH_REACHED

state 11712 begin subsurface finish

11722 0.10 83.8 6.7 -11.6 780 11781 0.95 0.00 -53.55 0.000 6 0.123 0.000 2702 1744 2311

11781 end subsurface finish: CONTROL_FINISHED_OK

state 11781 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	608	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	24	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	1	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	-127876.09	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	124944,6637.667,-6039.743,13,0.9,13,-38.0	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	6638.608,-6012.607
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	4.35	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-5.3	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	124944,6637.667,-6039.743,13,0.9,13,-38.0	MHEAD_RNG_PITCHd_Wd	123.0,20000,-13.0,-7.021
SPEED_LIMITS	0.122,0.233	D_GRID	455

FREEZE	6.68,-1.786,-1.770	XPDR_PINGS	122
FINISH1	6.7,1.025945,84	_24V_AH	21.5,93.809
FINISH2	3.1	_10V_AH	10.4,41.860
RAFOS_CLK	549	DATA_FILE_SIZE	25262,790
RAFOS	0,1231041848,4.083333,4.068889,92,59,59,59,54,53,584,195,219,170,138,121	CAP_FILE_SIZE	103189,0
RAFOS_FIX	6636.425781,-6052.078613,020109,161644,2,69,0.09	CFSIZE	260165632,214306816
IRIDIUM_FIX	6614.97,-5735.48,170398,050547	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TT8_MAMPS	0.026845	SOUNDSPEED	1444.1
HUMID	1829	GPS	030109,124944,6637.667,-6039.743,13,0.9,13,-38.0
INTERNAL_PRESSURE	9.90272	ESCAPE_REASON	NO_RECENT_FIX
TCM_TEMP	14.80	ESCAPE_STARTED_DIVE	581

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	8	167	31.46	SBE_CT	551	24	284.50
Roll_motor	121	79	206.24	SBE_O2	0	0	0.00
VBD_pump_during_apogee	504	1148	12457.93	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	30	420	275.42
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	0	50	0.00
TT8	1410	19	292.13
LPSleep	8117	2	195.02
TT8_Active	575	19	119.32
TT8_Sampling	1468	39	609.51
TT8_CF8	265	45	126.64
TT8_Kalman	0	0	0.00
Analog_circuits	1410	12	175.99
GPS_charging	0	0	0.00
Compass	1453	8	120.89
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
11	end surface: CONTROL_FINISHED_OK
state	12	begin dive
16	-0.99	-146.0	0.0	0.0	0	24	0.00	0.00	-5.43	0.000	2	0.000	0.000	2695	3164	2439
28	-0.99	-146.0	3.6	-0.0	1	70	0.62	3.85	-33.22	0.000	4	0.064	0.066	2466	803	3247
151	-0.69	-146.0	14.8	-12.6	22	158	0.25	2.35	0.00	0.000	6	0.140	0.062	2529	2241	3251
498	-0.69	-146.0	49.2	-7.3	83	504	0.00	2.33	0.00	0.000	4	0.000	0.064	2534	814	3251
518	-0.69	-146.0	50.8	-7.6	86	524	0.00	2.33	0.00	0.000	6	0.000	0.063	2525	2236	3251
863	-0.69	-146.0	80.0	-8.4	147	869	0.00	2.33	0.00	0.000	4	0.000	0.065	2525	815	3251
894	-0.69	-146.0	83.1	-9.7	152	900	0.00	2.33	0.00	0.000	6	0.000	0.062	2515	2236	3251
1236	-0.69	-146.0	117.2	-9.8	191	1240	0.00	2.22	0.00	0.000	4	0.000	0.078	2504	3602	3251
1261	-0.69	-146.0	119.8	-11.6	192	1266	0.10	2.17	0.00	0.000	6	0.155	0.052	2529	2216	3251
1595	-0.76	-146.0	146.9	-6.3	208	1599	0.00	2.22	0.00	0.000	4	0.000	0.065	2529	825	3251
1609	-0.82	-146.0	147.7	-6.3	208	1613	0.00	2.33	0.00	0.000	6	0.000	0.064	2521	2234	3251
1931	-0.88	-146.0	169.3	-7.4	224	1936	0.12	2.22	0.00	0.000	4	0.084	0.079	2455	3599	3250
1943	-0.88	-146.0	170.3	-7.5	224	1947	0.12	2.17	0.00	0.000	6	0.163	0.053	2489	2214	3250
2264	-0.88	-146.0	198.7	-8.3	240	2268	0.00	2.30	0.00	0.000	4	0.000	0.077	2482	3597	3250
2337	-0.88	-146.0	205.8	-9.3	243	2341	0.00	2.17	0.00	0.000	6	0.000	0.053	2482	2214	3250
2666	-0.83	-146.0	235.8	-8.6	259	2667	0.00	0.00	0.00	0.000	6	0.000	0.000	2482	2214	3250
2974	-0.83	-146.0	257.9	-5.8	274	2976	0.00	0.00	0.00	0.000	6	0.000	0.000	2482	2214	3250
3284	-0.83	-146.0	273.5	-5.6	289	3288	0.00	2.33	0.00	0.000	4	0.000	0.078	2472	3608	3250
3336	-0.83	-146.0	276.9	-6.8	291	3340	0.12	2.17	0.00	0.000	6	0.151	0.053	2504	2227	3250
3663	-0.91	-146.0	300.0	-7.8	307	3664	0.00	0.00	0.00	0.000	6	0.000	0.000	2504	2227	3250
3974	-0.99	-146.0	322.9	-6.9	322	3978	0.15	2.28	0.00	0.000	4	0.086	0.064	2445	814	3250
3997	-0.89	-146.0	324.9	-8.1	323	4002	0.20	2.35	0.00	0.000	6	0.140	0.065	2490	2241	3250
4325	-0.89	-146.0	345.8	-5.7	339	4329	0.00	2.33	0.00	0.000	4	0.000	0.065	2491	823	3250
4337	-0.89	-146.0	346.6	-5.6	339	4341	0.00	2.35	0.00	0.000	6	0.000	0.064	2484	2241	3250
4660	-0.89	-146.0	366.6	-6.4	355	4664	0.00	2.22	0.00	0.000	4	0.000	0.077	2473	3603	3250
4707	-0.89	-146.0	369.7	-6.9	357	4710	0.00	2.17	0.00	0.000	6	0.000	0.052	2473	2220	3250
5041	-0.89	-146.0	392.2	-6.8	373	5045	0.00	2.30	0.00	0.000	4	0.000	0.076	2463	3600	3250
5075	-0.89	-146.0	394.9	-8.1	374	5079	0.10	2.17	0.00	0.000	6	0.153	0.051	2487	2215	3250
5414	-0.95	-146.0	416.7	-6.2	385	5418	0.00	2.22	0.00	0.000	4	0.000	0.063	2488	820	3250
5482	-0.95	-146.0	421.1	-6.4	386	5487	0.00	2.33	0.00	0.000	6	0.000	0.064	2480	2237	3249
5832	-0.95	-146.0	442.8	-6.5	395	5833	0.00	0.00	0.00	0.000	6	0.000	0.000	2480	2237	3250
6031	end dive: TARGET_DEPTH_EXCEEDED
state	6031	begin apogee
6040	-0.31	0.0	455.5	6.1	400	6169	0.43	0.00	126.85	1.148	6	0.127	0.000	2612	1737	2650
6170	end apogee: CONTROL_FINISHED_OK
state	6170	begin climb
6175	0.99	146.0	458.4	0.0	403	6311	0.90	0.00	132.48	1.068	6	0.100	0.000	2897	1737	2054
6624	0.82	146.0	420.4	9.3	414	6629	0.15	2.40	0.00	0.000	4	0.130	0.067	2866	319	2048
6658	0.82	146.0	417.5	7.5	414	6664	0.00	2.40	0.00	0.000	6	0.000	0.054	2865	1752	2048
6972	0.77	146.0	392.6	7.8	424	6976	0.00	2.28	0.00	0.000	4	0.000	0.069	2866	3160	2047
7006	0.62	146.0	389.4	8.9	425	7011	0.22	2.28	0.00	0.000	6	0.133	0.052	2810	1729	2046
7323	1.01	190.6	373.0	5.6	440	7368	0.25	2.45	38.00	1.061	4	0.067	0.064	2916	3159	1872
7492	0.71	190.6	355.8	11.6	447	7497	0.32	2.28	0.00	0.000	6	0.135	0.051	2831	1731	1868
7810	0.87	201.5	335.3	6.7	462	7825	0.12	2.30	9.57	0.939	4	0.071	0.066	2903	333	1828
7855	0.79	201.5	331.1	10.3	464	7860	0.20	2.30	0.00	0.000	6	0.131	0.051	2845	1752	1829
8183	0.91	201.5	305.8	7.8	480	8188	0.12	2.25	0.00	0.000	4	0.075	0.064	2904	3157	1827
8262	0.69	201.5	296.7	11.9	483	8269	0.30	2.25	0.00	0.000	6	0.132	0.052	2825	1732	1826
8582	1.08	201.5	273.6	7.4	499	8587	0.25	2.33	0.00	0.000	4	0.074	0.064	2926	3160	1826
8713	0.80	201.5	259.4	12.0	505	8718	0.30	2.25	0.00	0.000	6	0.133	0.051	2847	1731	1826
9044	1.05	254.1	241.1	5.3	521	9101	0.20	2.45	47.28	1.009	4	0.075	0.064	2926	3162	1613
9143	0.82	254.1	232.0	10.6	525	9150	0.28	2.30	0.00	0.000	6	0.132	0.052	2857	1735	1610
9459	1.00	254.1	209.4	7.2	541	9464	0.15	2.30	0.00	0.000	4	0.074	0.067	2935	332	1606
9505	0.93	254.1	204.7	10.2	543	9510	0.20	2.30	0.00	0.000	6	0.133	0.054	2878	1750	1606
9830	1.09	276.1	182.0	6.3	559	9856	0.15	2.33	19.58	0.959	4	0.070	0.068	2945	3154	1524
9897	0.86	276.1	175.2	11.7	562	9902	0.30	2.28	0.00	0.000	6	0.133	0.054	2866	1731	1523
10226	1.47	276.1	149.7	7.5	578	10231	0.38	2.30	0.00	0.000	4	0.096	0.067	2997	327	1519
10267	1.36	276.1	145.8	10.9	580	10272	0.10	2.30	0.00	0.000	6	0.167	0.056	2974	1741	1520
10602	1.23	276.1	106.6	10.8	596	10606	0.10	2.28	0.00	0.000	4	0.152	0.070	2945	3151	1519
10647	1.10	276.1	101.6	10.1	598	10652	0.12	2.25	0.00	0.000	6	0.140	0.054	2919	1732	1517
10990	1.17	276.1	77.2	7.5	655	10996	0.00	2.30	0.00	0.000	4	0.000	0.071	2928	325	1517
11077	1.26	294.9	71.3	6.4	670	11102	0.10	2.30	17.12	0.913	6	0.084	0.057	2972	1738	1447
11446	1.14	294.9	37.5	7.5	734	11453	0.17	2.35	0.00	0.000	4	0.130	0.067	2928	330	1444
11489	1.37	425.3	35.8	2.8	741	11611	0.17	2.30	113.78	0.881	6	0.071	0.056	2998	1744	915
11712	end climb: FINISH_DEPTH_REACHED
state	11712	begin subsurface finish
11722	0.10	83.8	6.7	-11.6	780	11781	0.95	0.00	-53.55	0.000	6	0.123	0.000	2702	1744	2311
11781	end subsurface finish: CONTROL_FINISHED_OK
state	11781	begin surface