Glider dive log

DavisStrait Sep08 * SG108 * Dive index * Mission links * Dive 599 * 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 599 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 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 25 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 599 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 4.38 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo 15.7 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 6.81,-1.792,-1.770 XPDR_PINGS 105

FINISH1 6.8,1.025944,84 _24V_AH 21.5,92.550

FINISH2 4.3 _10V_AH 10.4,41.439

RAFOS_CLK 477 DATA_FILE_SIZE 25251,768

RAFOS 0,1230941049,0.083333,0.069167,128,59,54,52,51,51,627,220,190,203,161,173 CAP_FILE_SIZE 96918,0

RAFOS_FIX 6636.425781,-6052.078613,020109,161644,2,69,0.09 CFSIZE 260165632,214757376

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 1443.1

HUMID 1848 GPS 020109,161144,6636.426,-6052.079,0,2069.0,0,-37.3

INTERNAL_PRESSURE 9.89296 ESCAPE_REASON NO_RECENT_FIX

TCM_TEMP 14.90 ESCAPE_STARTED_DIVE 581

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 9 199 38.80 SBE_CT 535 24 276.40

Roll_motor 115 87 216.61 SBE_O2 0 0 0.00

VBD_pump_during_apogee 498 1120 12019.21 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 26 420 237.04

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 0 50 0.00

TT8 1338 19 277.33

LPSleep 6737 2 161.85

TT8_Active 584 19 121.10

TT8_Sampling 1404 39 583.21

TT8_CF8 252 45 120.63

TT8_Kalman 0 0 0.00

Analog_circuits 1399 12 174.71

GPS_charging 0 0 0.00

Compass 1400 8 116.52

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

17 -0.99 -146.0 0.0 0.0 0 24 0.00 0.00 -5.38 0.000 2 0.000 0.000 2949 1755 1292

29 -0.99 -146.0 4.4 -0.0 1 109 1.50 3.08 -70.12 0.000 4 0.122 0.087 2447 3607 3249

117 -0.55 -146.0 7.0 -5.1 16 124 0.40 2.20 0.00 0.000 6 0.199 0.054 2559 2213 3250

465 -0.66 -146.0 34.6 -5.2 77 472 0.10 2.22 0.00 0.000 4 0.089 0.064 2517 821 3252

593 -0.61 -146.0 47.1 -10.2 99 599 0.15 2.33 0.00 0.000 6 0.141 0.065 2547 2237 3252

940 -0.70 -146.0 76.6 -8.3 160 946 0.00 2.22 0.00 0.000 4 0.000 0.080 2539 3597 3252

953 -0.80 -146.0 77.8 -8.4 162 960 0.12 2.17 0.00 0.000 6 0.085 0.053 2486 2213 3252

1299 -0.68 -146.0 116.7 -11.2 204 1304 0.17 2.25 0.00 0.000 4 0.143 0.065 2538 813 3252

1312 -0.59 -146.0 118.2 -11.3 204 1319 0.00 2.35 0.00 0.000 6 0.000 0.064 2531 2237 3252

1629 -0.65 -146.0 146.8 -8.6 220 1633 0.00 2.33 0.00 0.000 4 0.000 0.066 2530 817 3251

1658 -0.65 -146.0 149.2 -8.7 221 1662 0.00 2.35 0.00 0.000 6 0.000 0.064 2520 2239 3251

1980 -0.65 -146.0 174.4 -7.6 237 1984 0.00 2.33 0.00 0.000 4 0.000 0.066 2520 817 3251

1992 -0.65 -146.0 175.5 -7.9 237 1996 0.12 2.35 0.00 0.000 6 0.143 0.064 2544 2243 3251

2310 -0.80 -146.0 198.7 -6.8 252 2314 0.15 2.35 0.00 0.000 4 0.081 0.064 2484 810 3252

2350 -0.66 -146.0 202.1 -9.3 254 2355 0.22 2.35 0.00 0.000 6 0.145 0.064 2536 2237 3251

2680 -0.82 -146.0 221.7 -6.3 270 2682 0.12 0.00 0.00 0.000 6 0.084 0.000 2486 2237 3251

2988 -0.82 -146.0 246.0 -7.5 285 2992 0.00 2.25 0.00 0.000 4 0.000 0.081 2476 3602 3251

3089 -0.82 -146.0 254.1 -7.8 289 3094 0.12 2.17 0.00 0.000 6 0.149 0.054 2507 2224 3251

3413 -0.91 -146.0 275.4 -6.6 305 3418 0.10 2.30 0.00 0.000 4 0.098 0.077 2456 3596 3251

3425 -0.97 -146.0 276.2 -6.5 305 3431 0.00 2.17 0.00 0.000 6 0.000 0.053 2456 2215 3251

3742 -0.89 -146.0 304.4 -8.9 321 3743 0.12 0.00 0.00 0.000 6 0.158 0.000 2488 2215 3251

4052 -0.89 -146.0 326.9 -6.8 336 4053 0.00 0.00 0.00 0.000 6 0.000 0.000 2488 2215 3251

4362 -0.94 -146.0 347.4 -6.6 351 4366 0.00 2.28 0.00 0.000 4 0.000 0.066 2488 814 3251

4408 -0.94 -146.0 350.8 -7.2 353 4412 0.00 2.35 0.00 0.000 6 0.000 0.064 2481 2234 3251

4739 -0.94 -146.0 373.4 -6.9 369 4742 0.00 2.33 0.00 0.000 4 0.000 0.064 2480 817 3251

4750 -0.94 -146.0 374.4 -6.7 369 4755 0.00 2.33 0.00 0.000 6 0.000 0.063 2471 2235 3251

4919 end dive: TARGET_DEPTH_EXCEEDED

state 4919 begin apogee

4928 -0.31 0.0 386.4 6.5 377 5056 0.47 0.00 125.65 1.121 6 0.133 0.000 2616 1738 2650

5057 end apogee: CONTROL_FINISHED_OK

state 5057 begin climb

5062 0.99 146.0 389.3 0.0 383 5200 0.88 2.67 131.05 1.037 4 0.099 0.068 2896 3150 2054

5262 0.71 146.0 373.9 10.4 392 5268 0.28 2.47 0.00 0.000 6 0.134 0.052 2834 1739 2049

5580 0.84 195.4 354.8 5.4 407 5631 0.10 2.42 42.75 1.029 4 0.083 0.067 2890 324 1853

5677 0.84 195.4 347.2 8.7 411 5681 0.12 2.40 0.00 0.000 6 0.130 0.055 2857 1747 1850

5994 0.84 195.4 324.6 7.0 426 5997 0.00 2.28 0.00 0.000 4 0.000 0.070 2857 3151 1846

6063 0.75 195.4 319.1 8.1 429 6067 0.00 2.28 0.00 0.000 6 0.000 0.053 2864 1721 1845

6390 0.75 195.4 295.7 7.3 445 6394 0.00 2.28 0.00 0.000 4 0.000 0.067 2874 320 1845

6425 0.80 195.4 293.1 7.9 446 6429 0.00 2.33 0.00 0.000 6 0.000 0.054 2874 1751 1845

6743 0.80 195.7 270.2 7.0 461 6747 0.00 2.25 0.00 0.000 4 0.000 0.070 2874 3153 1845

6828 0.68 195.7 262.7 9.2 464 6835 0.20 2.25 0.00 0.000 6 0.128 0.053 2825 1730 1844

7148 1.02 205.3 244.6 6.7 480 7162 0.20 2.38 8.30 0.907 4 0.080 0.068 2905 3150 1812

7225 0.77 205.3 237.6 8.9 483 7230 0.25 2.25 0.00 0.000 6 0.134 0.053 2842 1729 1812

7543 1.19 229.4 218.6 6.2 498 7574 0.25 2.45 22.70 0.992 4 0.074 0.069 2944 3163 1713

7685 0.92 229.4 204.2 11.9 504 7689 0.28 2.30 0.00 0.000 6 0.137 0.054 2876 1726 1711

8008 1.13 292.5 185.5 5.0 520 8072 0.17 2.35 56.83 0.983 4 0.066 0.068 2962 334 1457

8107 1.06 292.5 176.4 11.0 524 8112 0.20 2.35 0.00 0.000 6 0.130 0.055 2905 1743 1455

8425 1.21 318.7 154.6 6.2 539 8455 0.12 2.38 23.02 0.943 4 0.074 0.070 2960 3156 1350

8536 1.00 318.7 142.9 11.6 544 8541 0.25 2.28 0.00 0.000 6 0.136 0.055 2898 1738 1347

8868 1.21 345.7 121.0 6.2 560 8898 0.15 2.38 23.98 0.936 4 0.072 0.070 2974 335 1240

8944 1.15 345.7 113.4 10.8 563 8949 0.17 2.33 0.00 0.000 6 0.133 0.055 2925 1753 1239

9275 1.28 345.9 88.9 7.0 599 9282 0.12 2.28 0.00 0.000 4 0.077 0.072 2979 3158 1235

9329 1.06 345.9 83.0 12.0 608 9336 0.28 2.28 0.00 0.000 6 0.139 0.057 2910 1733 1234

9678 1.31 420.3 60.6 4.6 669 9750 0.17 2.45 64.60 0.923 4 0.069 0.071 2992 323 936

9803 1.31 420.3 47.5 10.5 690 9810 0.12 2.38 0.00 0.000 6 0.146 0.057 2961 1748 932

10150 1.31 420.3 13.4 8.2 751 10157 0.00 2.30 0.00 0.000 4 0.000 0.077 2961 3149 927

10175 1.31 420.3 10.3 10.6 755 10182 0.00 2.28 0.00 0.000 6 0.000 0.056 2967 1727 926

10198 end climb: FINISH_DEPTH_REACHED

state 10198 begin subsurface finish

10207 0.10 83.8 6.8 -13.4 759 10262 0.82 2.38 -47.65 0.000 4 0.128 0.081 2705 320 2312

10262 end subsurface finish: CONTROL_FINISHED_OK

state 10262 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	599	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	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	4.38	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	15.7	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	6.81,-1.792,-1.770	XPDR_PINGS	105
FINISH1	6.8,1.025944,84	_24V_AH	21.5,92.550
FINISH2	4.3	_10V_AH	10.4,41.439
RAFOS_CLK	477	DATA_FILE_SIZE	25251,768
RAFOS	0,1230941049,0.083333,0.069167,128,59,54,52,51,51,627,220,190,203,161,173	CAP_FILE_SIZE	96918,0
RAFOS_FIX	6636.425781,-6052.078613,020109,161644,2,69,0.09	CFSIZE	260165632,214757376
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	1443.1
HUMID	1848	GPS	020109,161144,6636.426,-6052.079,0,2069.0,0,-37.3
INTERNAL_PRESSURE	9.89296	ESCAPE_REASON	NO_RECENT_FIX
TCM_TEMP	14.90	ESCAPE_STARTED_DIVE	581

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	9	199	38.80	SBE_CT	535	24	276.40
Roll_motor	115	87	216.61	SBE_O2	0	0	0.00
VBD_pump_during_apogee	498	1120	12019.21	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	26	420	237.04
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	0	50	0.00
TT8	1338	19	277.33
LPSleep	6737	2	161.85
TT8_Active	584	19	121.10
TT8_Sampling	1404	39	583.21
TT8_CF8	252	45	120.63
TT8_Kalman	0	0	0.00
Analog_circuits	1399	12	174.71
GPS_charging	0	0	0.00
Compass	1400	8	116.52
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
17	-0.99	-146.0	0.0	0.0	0	24	0.00	0.00	-5.38	0.000	2	0.000	0.000	2949	1755	1292
29	-0.99	-146.0	4.4	-0.0	1	109	1.50	3.08	-70.12	0.000	4	0.122	0.087	2447	3607	3249
117	-0.55	-146.0	7.0	-5.1	16	124	0.40	2.20	0.00	0.000	6	0.199	0.054	2559	2213	3250
465	-0.66	-146.0	34.6	-5.2	77	472	0.10	2.22	0.00	0.000	4	0.089	0.064	2517	821	3252
593	-0.61	-146.0	47.1	-10.2	99	599	0.15	2.33	0.00	0.000	6	0.141	0.065	2547	2237	3252
940	-0.70	-146.0	76.6	-8.3	160	946	0.00	2.22	0.00	0.000	4	0.000	0.080	2539	3597	3252
953	-0.80	-146.0	77.8	-8.4	162	960	0.12	2.17	0.00	0.000	6	0.085	0.053	2486	2213	3252
1299	-0.68	-146.0	116.7	-11.2	204	1304	0.17	2.25	0.00	0.000	4	0.143	0.065	2538	813	3252
1312	-0.59	-146.0	118.2	-11.3	204	1319	0.00	2.35	0.00	0.000	6	0.000	0.064	2531	2237	3252
1629	-0.65	-146.0	146.8	-8.6	220	1633	0.00	2.33	0.00	0.000	4	0.000	0.066	2530	817	3251
1658	-0.65	-146.0	149.2	-8.7	221	1662	0.00	2.35	0.00	0.000	6	0.000	0.064	2520	2239	3251
1980	-0.65	-146.0	174.4	-7.6	237	1984	0.00	2.33	0.00	0.000	4	0.000	0.066	2520	817	3251
1992	-0.65	-146.0	175.5	-7.9	237	1996	0.12	2.35	0.00	0.000	6	0.143	0.064	2544	2243	3251
2310	-0.80	-146.0	198.7	-6.8	252	2314	0.15	2.35	0.00	0.000	4	0.081	0.064	2484	810	3252
2350	-0.66	-146.0	202.1	-9.3	254	2355	0.22	2.35	0.00	0.000	6	0.145	0.064	2536	2237	3251
2680	-0.82	-146.0	221.7	-6.3	270	2682	0.12	0.00	0.00	0.000	6	0.084	0.000	2486	2237	3251
2988	-0.82	-146.0	246.0	-7.5	285	2992	0.00	2.25	0.00	0.000	4	0.000	0.081	2476	3602	3251
3089	-0.82	-146.0	254.1	-7.8	289	3094	0.12	2.17	0.00	0.000	6	0.149	0.054	2507	2224	3251
3413	-0.91	-146.0	275.4	-6.6	305	3418	0.10	2.30	0.00	0.000	4	0.098	0.077	2456	3596	3251
3425	-0.97	-146.0	276.2	-6.5	305	3431	0.00	2.17	0.00	0.000	6	0.000	0.053	2456	2215	3251
3742	-0.89	-146.0	304.4	-8.9	321	3743	0.12	0.00	0.00	0.000	6	0.158	0.000	2488	2215	3251
4052	-0.89	-146.0	326.9	-6.8	336	4053	0.00	0.00	0.00	0.000	6	0.000	0.000	2488	2215	3251
4362	-0.94	-146.0	347.4	-6.6	351	4366	0.00	2.28	0.00	0.000	4	0.000	0.066	2488	814	3251
4408	-0.94	-146.0	350.8	-7.2	353	4412	0.00	2.35	0.00	0.000	6	0.000	0.064	2481	2234	3251
4739	-0.94	-146.0	373.4	-6.9	369	4742	0.00	2.33	0.00	0.000	4	0.000	0.064	2480	817	3251
4750	-0.94	-146.0	374.4	-6.7	369	4755	0.00	2.33	0.00	0.000	6	0.000	0.063	2471	2235	3251
4919	end dive: TARGET_DEPTH_EXCEEDED
state	4919	begin apogee
4928	-0.31	0.0	386.4	6.5	377	5056	0.47	0.00	125.65	1.121	6	0.133	0.000	2616	1738	2650
5057	end apogee: CONTROL_FINISHED_OK
state	5057	begin climb
5062	0.99	146.0	389.3	0.0	383	5200	0.88	2.67	131.05	1.037	4	0.099	0.068	2896	3150	2054
5262	0.71	146.0	373.9	10.4	392	5268	0.28	2.47	0.00	0.000	6	0.134	0.052	2834	1739	2049
5580	0.84	195.4	354.8	5.4	407	5631	0.10	2.42	42.75	1.029	4	0.083	0.067	2890	324	1853
5677	0.84	195.4	347.2	8.7	411	5681	0.12	2.40	0.00	0.000	6	0.130	0.055	2857	1747	1850
5994	0.84	195.4	324.6	7.0	426	5997	0.00	2.28	0.00	0.000	4	0.000	0.070	2857	3151	1846
6063	0.75	195.4	319.1	8.1	429	6067	0.00	2.28	0.00	0.000	6	0.000	0.053	2864	1721	1845
6390	0.75	195.4	295.7	7.3	445	6394	0.00	2.28	0.00	0.000	4	0.000	0.067	2874	320	1845
6425	0.80	195.4	293.1	7.9	446	6429	0.00	2.33	0.00	0.000	6	0.000	0.054	2874	1751	1845
6743	0.80	195.7	270.2	7.0	461	6747	0.00	2.25	0.00	0.000	4	0.000	0.070	2874	3153	1845
6828	0.68	195.7	262.7	9.2	464	6835	0.20	2.25	0.00	0.000	6	0.128	0.053	2825	1730	1844
7148	1.02	205.3	244.6	6.7	480	7162	0.20	2.38	8.30	0.907	4	0.080	0.068	2905	3150	1812
7225	0.77	205.3	237.6	8.9	483	7230	0.25	2.25	0.00	0.000	6	0.134	0.053	2842	1729	1812
7543	1.19	229.4	218.6	6.2	498	7574	0.25	2.45	22.70	0.992	4	0.074	0.069	2944	3163	1713
7685	0.92	229.4	204.2	11.9	504	7689	0.28	2.30	0.00	0.000	6	0.137	0.054	2876	1726	1711
8008	1.13	292.5	185.5	5.0	520	8072	0.17	2.35	56.83	0.983	4	0.066	0.068	2962	334	1457
8107	1.06	292.5	176.4	11.0	524	8112	0.20	2.35	0.00	0.000	6	0.130	0.055	2905	1743	1455
8425	1.21	318.7	154.6	6.2	539	8455	0.12	2.38	23.02	0.943	4	0.074	0.070	2960	3156	1350
8536	1.00	318.7	142.9	11.6	544	8541	0.25	2.28	0.00	0.000	6	0.136	0.055	2898	1738	1347
8868	1.21	345.7	121.0	6.2	560	8898	0.15	2.38	23.98	0.936	4	0.072	0.070	2974	335	1240
8944	1.15	345.7	113.4	10.8	563	8949	0.17	2.33	0.00	0.000	6	0.133	0.055	2925	1753	1239
9275	1.28	345.9	88.9	7.0	599	9282	0.12	2.28	0.00	0.000	4	0.077	0.072	2979	3158	1235
9329	1.06	345.9	83.0	12.0	608	9336	0.28	2.28	0.00	0.000	6	0.139	0.057	2910	1733	1234
9678	1.31	420.3	60.6	4.6	669	9750	0.17	2.45	64.60	0.923	4	0.069	0.071	2992	323	936
9803	1.31	420.3	47.5	10.5	690	9810	0.12	2.38	0.00	0.000	6	0.146	0.057	2961	1748	932
10150	1.31	420.3	13.4	8.2	751	10157	0.00	2.30	0.00	0.000	4	0.000	0.077	2961	3149	927
10175	1.31	420.3	10.3	10.6	755	10182	0.00	2.28	0.00	0.000	6	0.000	0.056	2967	1727	926
10198	end climb: FINISH_DEPTH_REACHED
state	10198	begin subsurface finish
10207	0.10	83.8	6.8	-13.4	759	10262	0.82	2.38	-47.65	0.000	4	0.128	0.081	2705	320	2312
10262	end subsurface finish: CONTROL_FINISHED_OK
state	10262	begin surface