Glider dive log

DavisStrait Sep08 * SG108 * Dive index * Mission links * Dive 605 * 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 605 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 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 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 605 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 6.10 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -7.9 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 6.58,-1.788,-1.764 XPDR_PINGS 135

FINISH1 6.6,1.025863,88 _24V_AH 21.4,93.396

FINISH2 3.4 _10V_AH 10.4,41.719

RAFOS_CLK 551 DATA_FILE_SIZE 25295,789

RAFOS 0,1230998642,16.083334,16.067223,123,66,63,59,56,53,619,163,200,215,145,224 CAP_FILE_SIZE 100701,0

RAFOS_FIX 6636.425781,-6052.078613,020109,161644,2,69,0.09 CFSIZE 260165632,214462464

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 1443.7

HUMID 1835 GPS 030109,124944,6637.667,-6039.743,13,0.9,13,-38.0

INTERNAL_PRESSURE 9.89296 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 7 157 25.49 SBE_CT 551 24 283.24

Roll_motor 121 80 210.13 SBE_O2 0 0 0.00

VBD_pump_during_apogee 475 1151 11702.63 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 33 420 303.35

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 0 50 0.00

TT8 1383 19 286.55

LPSleep 8260 2 198.44

TT8_Active 561 19 116.24

TT8_Sampling 1412 39 586.48

TT8_CF8 254 45 121.61

TT8_Kalman 0 0 0.00

Analog_circuits 1357 12 169.46

GPS_charging 0 0 0.00

Compass 1397 8 116.30

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 24 0.00 0.00 -5.38 0.000 2 0.000 0.000 2707 327 2473

28 -0.99 -146.0 6.6 -0.0 1 60 0.65 5.40 -22.65 0.000 4 0.049 0.071 2414 3595 3250

90 -0.58 -146.0 14.5 -15.4 11 97 0.45 2.17 0.00 0.000 6 0.149 0.054 2554 2215 3252

437 -0.68 -146.0 48.9 -9.0 72 444 0.10 2.25 0.00 0.000 4 0.091 0.063 2512 809 3254

486 -0.61 -146.0 55.5 -14.2 80 493 0.17 2.35 0.00 0.000 6 0.147 0.063 2549 2243 3254

832 -0.71 -146.0 83.9 -7.1 141 838 0.10 2.33 0.00 0.000 4 0.088 0.064 2507 822 3254

847 -0.78 -146.0 85.0 -7.1 143 853 0.00 2.33 0.00 0.000 6 0.000 0.064 2497 2236 3254

1188 -0.70 -146.0 119.4 -10.7 179 1192 0.12 2.22 0.00 0.000 4 0.157 0.078 2521 3597 3254

1200 -0.64 -146.0 120.7 -10.3 179 1204 0.00 2.17 0.00 0.000 6 0.000 0.052 2521 2212 3254

1522 -0.64 -146.0 151.8 -8.7 195 1523 0.00 0.00 0.00 0.000 6 0.000 0.000 2521 2212 3254

1831 -0.64 -146.0 172.5 -6.2 210 1837 0.00 2.25 0.00 0.000 4 0.000 0.066 2521 809 3254

1888 -0.64 -146.0 177.2 -8.4 212 1893 0.12 2.35 0.00 0.000 6 0.139 0.065 2545 2244 3254

2212 -0.81 -146.0 199.9 -6.9 228 2214 0.15 0.00 0.00 0.000 6 0.079 0.000 2484 2244 3253

2520 -0.76 -146.0 225.7 -9.5 243 2525 0.12 2.35 0.00 0.000 4 0.154 0.064 2516 814 3253

2542 -0.76 -146.0 228.2 -10.0 244 2547 0.00 2.35 0.00 0.000 6 0.000 0.064 2509 2236 3253

2866 -0.80 -146.0 257.7 -8.3 260 2870 0.00 2.25 0.00 0.000 4 0.000 0.081 2498 3606 3253

2959 -0.87 -146.0 264.8 -7.2 264 2963 0.00 2.20 0.00 0.000 6 0.000 0.054 2498 2212 3253

3292 -0.87 -146.0 282.3 -5.3 280 3294 0.00 0.00 0.00 0.000 6 0.000 0.000 2498 2212 3253

3602 -0.92 -146.0 302.3 -7.0 295 3606 0.00 2.33 0.00 0.000 4 0.000 0.078 2488 3606 3253

3627 -0.92 -146.0 304.0 -6.7 296 3631 0.00 2.17 0.00 0.000 6 0.000 0.053 2488 2216 3253

3960 -0.92 -146.0 326.1 -6.5 312 3961 0.00 0.00 0.00 0.000 6 0.000 0.000 2488 2215 3253

4269 -0.92 -146.0 346.0 -6.8 327 4271 0.00 0.00 0.00 0.000 6 0.000 0.000 2488 2216 3253

4579 -0.96 -146.0 368.5 -7.8 342 4583 0.00 2.25 0.00 0.000 4 0.000 0.065 2488 816 3253

4591 -0.96 -146.0 369.6 -7.6 342 4595 0.00 2.35 0.00 0.000 6 0.000 0.064 2478 2243 3252

4908 -0.96 -146.0 393.6 -7.0 357 4911 0.00 2.33 0.00 0.000 4 0.000 0.062 2478 818 3252

4920 -0.96 -146.0 394.6 -7.1 357 4924 0.00 2.35 0.00 0.000 6 0.000 0.063 2468 2236 3252

5254 -0.96 -146.0 416.5 -6.5 367 5258 0.00 2.25 0.00 0.000 4 0.000 0.078 2458 3609 3253

5293 -0.96 -146.0 419.4 -7.1 367 5301 0.00 2.17 0.00 0.000 6 0.000 0.051 2457 2225 3253

5626 -0.91 -146.0 439.5 -5.8 376 5628 0.10 0.00 0.00 0.000 6 0.156 0.000 2483 2225 3253

5906 end dive: TARGET_DEPTH_EXCEEDED

state 5906 begin apogee

5916 -0.31 0.0 455.5 5.7 383 6046 0.43 0.00 127.50 1.151 6 0.126 0.000 2617 1743 2650

6047 end apogee: CONTROL_FINISHED_OK

state 6047 begin climb

6051 0.99 146.0 458.0 0.0 386 6192 0.90 2.72 133.40 1.069 4 0.097 0.065 2899 3156 2053

6210 0.73 146.0 446.2 9.9 390 6216 0.28 2.53 0.00 0.000 6 0.133 0.050 2839 1737 2051

6560 0.75 165.2 422.8 6.4 399 6583 0.00 2.45 16.58 1.014 4 0.000 0.065 2847 322 1976

6608 0.85 177.9 419.6 6.6 400 6627 0.00 2.40 13.07 0.980 6 0.000 0.054 2846 1750 1924

6952 0.85 178.1 396.2 7.0 409 6955 0.00 2.28 0.00 0.000 4 0.000 0.068 2847 3152 1921

7031 0.77 178.1 389.0 9.2 412 7035 0.00 2.28 0.00 0.000 6 0.000 0.051 2856 1721 1920

7353 0.77 178.1 359.9 10.0 428 7354 0.00 0.00 0.00 0.000 6 0.000 0.000 2856 1721 1920

7663 0.77 178.1 332.4 8.0 443 7667 0.00 2.35 0.00 0.000 4 0.000 0.066 2856 3161 1920

7742 0.68 178.1 325.3 9.6 446 7749 0.15 2.25 0.00 0.000 6 0.132 0.051 2822 1733 1919

8060 0.94 216.2 307.3 5.8 462 8103 0.20 2.38 33.40 1.039 4 0.075 0.067 2915 331 1768

8115 1.00 216.2 302.8 8.9 464 8119 0.00 2.33 0.00 0.000 6 0.000 0.052 2915 1749 1768

8432 0.89 216.2 270.8 10.1 479 8437 0.17 2.28 0.00 0.000 4 0.133 0.067 2863 3162 1763

8495 0.89 216.2 265.3 8.4 482 8499 0.00 2.28 0.00 0.000 6 0.000 0.052 2871 1725 1762

8829 0.97 223.7 241.9 6.8 498 8843 0.00 2.33 6.85 0.861 4 0.000 0.066 2880 333 1738

8862 1.11 262.0 239.9 5.8 499 8904 0.15 2.30 35.75 1.004 6 0.071 0.053 2949 1752 1582

9224 0.98 262.0 202.9 11.8 517 9229 0.20 2.28 0.00 0.000 4 0.130 0.071 2885 3152 1575

9287 0.98 262.0 195.7 10.8 520 9291 0.00 2.25 0.00 0.000 6 0.000 0.053 2893 1730 1573

9621 1.09 262.0 170.2 8.1 536 9626 0.08 2.30 0.00 0.000 4 0.099 0.067 2949 318 1573

9662 1.02 262.0 166.3 10.1 538 9666 0.17 2.33 0.00 0.000 6 0.131 0.055 2899 1752 1573

9990 1.16 274.4 145.4 6.6 554 10006 0.12 2.25 10.85 0.922 4 0.076 0.069 2956 3157 1531

10047 0.95 274.4 139.9 10.2 555 10054 0.28 2.28 0.00 0.000 6 0.135 0.054 2885 1728 1530

10364 1.37 280.1 120.5 6.8 571 10378 0.25 2.42 6.28 0.818 4 0.078 0.069 2981 3164 1507

10447 1.03 280.1 112.1 12.0 574 10454 0.32 2.28 0.00 0.000 6 0.140 0.054 2897 1735 1507

10778 1.23 322.8 90.4 5.6 611 10825 0.17 2.35 39.60 0.951 4 0.067 0.068 2983 332 1334

10867 1.15 322.8 82.4 9.7 626 10874 0.20 2.35 0.00 0.000 6 0.136 0.056 2927 1752 1333

11214 1.24 322.8 51.2 8.1 687 11221 0.08 2.30 0.00 0.000 4 0.096 0.073 2968 3161 1327

11296 1.05 322.8 42.5 12.7 701 11303 0.25 2.28 0.00 0.000 6 0.127 0.056 2904 1737 1325

11643 1.26 382.1 19.0 5.1 762 11702 0.17 2.38 51.72 0.901 4 0.068 0.068 2987 326 1091

11751 end climb: FINISH_DEPTH_REACHED

state 11751 begin subsurface finish

11762 0.11 87.8 6.6 -12.2 780 11816 0.90 2.47 -46.10 0.000 4 0.123 0.079 2703 319 2296

11816 end subsurface finish: CONTROL_FINISHED_OK

state 11816 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	605	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	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	6.10	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-7.9	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	6.58,-1.788,-1.764	XPDR_PINGS	135
FINISH1	6.6,1.025863,88	_24V_AH	21.4,93.396
FINISH2	3.4	_10V_AH	10.4,41.719
RAFOS_CLK	551	DATA_FILE_SIZE	25295,789
RAFOS	0,1230998642,16.083334,16.067223,123,66,63,59,56,53,619,163,200,215,145,224	CAP_FILE_SIZE	100701,0
RAFOS_FIX	6636.425781,-6052.078613,020109,161644,2,69,0.09	CFSIZE	260165632,214462464
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	1443.7
HUMID	1835	GPS	030109,124944,6637.667,-6039.743,13,0.9,13,-38.0
INTERNAL_PRESSURE	9.89296	ESCAPE_REASON	NO_RECENT_FIX
TCM_TEMP	14.80	ESCAPE_STARTED_DIVE	581

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	7	157	25.49	SBE_CT	551	24	283.24
Roll_motor	121	80	210.13	SBE_O2	0	0	0.00
VBD_pump_during_apogee	475	1151	11702.63	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	33	420	303.35
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	0	50	0.00
TT8	1383	19	286.55
LPSleep	8260	2	198.44
TT8_Active	561	19	116.24
TT8_Sampling	1412	39	586.48
TT8_CF8	254	45	121.61
TT8_Kalman	0	0	0.00
Analog_circuits	1357	12	169.46
GPS_charging	0	0	0.00
Compass	1397	8	116.30
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	24	0.00	0.00	-5.38	0.000	2	0.000	0.000	2707	327	2473
28	-0.99	-146.0	6.6	-0.0	1	60	0.65	5.40	-22.65	0.000	4	0.049	0.071	2414	3595	3250
90	-0.58	-146.0	14.5	-15.4	11	97	0.45	2.17	0.00	0.000	6	0.149	0.054	2554	2215	3252
437	-0.68	-146.0	48.9	-9.0	72	444	0.10	2.25	0.00	0.000	4	0.091	0.063	2512	809	3254
486	-0.61	-146.0	55.5	-14.2	80	493	0.17	2.35	0.00	0.000	6	0.147	0.063	2549	2243	3254
832	-0.71	-146.0	83.9	-7.1	141	838	0.10	2.33	0.00	0.000	4	0.088	0.064	2507	822	3254
847	-0.78	-146.0	85.0	-7.1	143	853	0.00	2.33	0.00	0.000	6	0.000	0.064	2497	2236	3254
1188	-0.70	-146.0	119.4	-10.7	179	1192	0.12	2.22	0.00	0.000	4	0.157	0.078	2521	3597	3254
1200	-0.64	-146.0	120.7	-10.3	179	1204	0.00	2.17	0.00	0.000	6	0.000	0.052	2521	2212	3254
1522	-0.64	-146.0	151.8	-8.7	195	1523	0.00	0.00	0.00	0.000	6	0.000	0.000	2521	2212	3254
1831	-0.64	-146.0	172.5	-6.2	210	1837	0.00	2.25	0.00	0.000	4	0.000	0.066	2521	809	3254
1888	-0.64	-146.0	177.2	-8.4	212	1893	0.12	2.35	0.00	0.000	6	0.139	0.065	2545	2244	3254
2212	-0.81	-146.0	199.9	-6.9	228	2214	0.15	0.00	0.00	0.000	6	0.079	0.000	2484	2244	3253
2520	-0.76	-146.0	225.7	-9.5	243	2525	0.12	2.35	0.00	0.000	4	0.154	0.064	2516	814	3253
2542	-0.76	-146.0	228.2	-10.0	244	2547	0.00	2.35	0.00	0.000	6	0.000	0.064	2509	2236	3253
2866	-0.80	-146.0	257.7	-8.3	260	2870	0.00	2.25	0.00	0.000	4	0.000	0.081	2498	3606	3253
2959	-0.87	-146.0	264.8	-7.2	264	2963	0.00	2.20	0.00	0.000	6	0.000	0.054	2498	2212	3253
3292	-0.87	-146.0	282.3	-5.3	280	3294	0.00	0.00	0.00	0.000	6	0.000	0.000	2498	2212	3253
3602	-0.92	-146.0	302.3	-7.0	295	3606	0.00	2.33	0.00	0.000	4	0.000	0.078	2488	3606	3253
3627	-0.92	-146.0	304.0	-6.7	296	3631	0.00	2.17	0.00	0.000	6	0.000	0.053	2488	2216	3253
3960	-0.92	-146.0	326.1	-6.5	312	3961	0.00	0.00	0.00	0.000	6	0.000	0.000	2488	2215	3253
4269	-0.92	-146.0	346.0	-6.8	327	4271	0.00	0.00	0.00	0.000	6	0.000	0.000	2488	2216	3253
4579	-0.96	-146.0	368.5	-7.8	342	4583	0.00	2.25	0.00	0.000	4	0.000	0.065	2488	816	3253
4591	-0.96	-146.0	369.6	-7.6	342	4595	0.00	2.35	0.00	0.000	6	0.000	0.064	2478	2243	3252
4908	-0.96	-146.0	393.6	-7.0	357	4911	0.00	2.33	0.00	0.000	4	0.000	0.062	2478	818	3252
4920	-0.96	-146.0	394.6	-7.1	357	4924	0.00	2.35	0.00	0.000	6	0.000	0.063	2468	2236	3252
5254	-0.96	-146.0	416.5	-6.5	367	5258	0.00	2.25	0.00	0.000	4	0.000	0.078	2458	3609	3253
5293	-0.96	-146.0	419.4	-7.1	367	5301	0.00	2.17	0.00	0.000	6	0.000	0.051	2457	2225	3253
5626	-0.91	-146.0	439.5	-5.8	376	5628	0.10	0.00	0.00	0.000	6	0.156	0.000	2483	2225	3253
5906	end dive: TARGET_DEPTH_EXCEEDED
state	5906	begin apogee
5916	-0.31	0.0	455.5	5.7	383	6046	0.43	0.00	127.50	1.151	6	0.126	0.000	2617	1743	2650
6047	end apogee: CONTROL_FINISHED_OK
state	6047	begin climb
6051	0.99	146.0	458.0	0.0	386	6192	0.90	2.72	133.40	1.069	4	0.097	0.065	2899	3156	2053
6210	0.73	146.0	446.2	9.9	390	6216	0.28	2.53	0.00	0.000	6	0.133	0.050	2839	1737	2051
6560	0.75	165.2	422.8	6.4	399	6583	0.00	2.45	16.58	1.014	4	0.000	0.065	2847	322	1976
6608	0.85	177.9	419.6	6.6	400	6627	0.00	2.40	13.07	0.980	6	0.000	0.054	2846	1750	1924
6952	0.85	178.1	396.2	7.0	409	6955	0.00	2.28	0.00	0.000	4	0.000	0.068	2847	3152	1921
7031	0.77	178.1	389.0	9.2	412	7035	0.00	2.28	0.00	0.000	6	0.000	0.051	2856	1721	1920
7353	0.77	178.1	359.9	10.0	428	7354	0.00	0.00	0.00	0.000	6	0.000	0.000	2856	1721	1920
7663	0.77	178.1	332.4	8.0	443	7667	0.00	2.35	0.00	0.000	4	0.000	0.066	2856	3161	1920
7742	0.68	178.1	325.3	9.6	446	7749	0.15	2.25	0.00	0.000	6	0.132	0.051	2822	1733	1919
8060	0.94	216.2	307.3	5.8	462	8103	0.20	2.38	33.40	1.039	4	0.075	0.067	2915	331	1768
8115	1.00	216.2	302.8	8.9	464	8119	0.00	2.33	0.00	0.000	6	0.000	0.052	2915	1749	1768
8432	0.89	216.2	270.8	10.1	479	8437	0.17	2.28	0.00	0.000	4	0.133	0.067	2863	3162	1763
8495	0.89	216.2	265.3	8.4	482	8499	0.00	2.28	0.00	0.000	6	0.000	0.052	2871	1725	1762
8829	0.97	223.7	241.9	6.8	498	8843	0.00	2.33	6.85	0.861	4	0.000	0.066	2880	333	1738
8862	1.11	262.0	239.9	5.8	499	8904	0.15	2.30	35.75	1.004	6	0.071	0.053	2949	1752	1582
9224	0.98	262.0	202.9	11.8	517	9229	0.20	2.28	0.00	0.000	4	0.130	0.071	2885	3152	1575
9287	0.98	262.0	195.7	10.8	520	9291	0.00	2.25	0.00	0.000	6	0.000	0.053	2893	1730	1573
9621	1.09	262.0	170.2	8.1	536	9626	0.08	2.30	0.00	0.000	4	0.099	0.067	2949	318	1573
9662	1.02	262.0	166.3	10.1	538	9666	0.17	2.33	0.00	0.000	6	0.131	0.055	2899	1752	1573
9990	1.16	274.4	145.4	6.6	554	10006	0.12	2.25	10.85	0.922	4	0.076	0.069	2956	3157	1531
10047	0.95	274.4	139.9	10.2	555	10054	0.28	2.28	0.00	0.000	6	0.135	0.054	2885	1728	1530
10364	1.37	280.1	120.5	6.8	571	10378	0.25	2.42	6.28	0.818	4	0.078	0.069	2981	3164	1507
10447	1.03	280.1	112.1	12.0	574	10454	0.32	2.28	0.00	0.000	6	0.140	0.054	2897	1735	1507
10778	1.23	322.8	90.4	5.6	611	10825	0.17	2.35	39.60	0.951	4	0.067	0.068	2983	332	1334
10867	1.15	322.8	82.4	9.7	626	10874	0.20	2.35	0.00	0.000	6	0.136	0.056	2927	1752	1333
11214	1.24	322.8	51.2	8.1	687	11221	0.08	2.30	0.00	0.000	4	0.096	0.073	2968	3161	1327
11296	1.05	322.8	42.5	12.7	701	11303	0.25	2.28	0.00	0.000	6	0.127	0.056	2904	1737	1325
11643	1.26	382.1	19.0	5.1	762	11702	0.17	2.38	51.72	0.901	4	0.068	0.068	2987	326	1091
11751	end climb: FINISH_DEPTH_REACHED
state	11751	begin subsurface finish
11762	0.11	87.8	6.6	-12.2	780	11816	0.90	2.47	-46.10	0.000	4	0.123	0.079	2703	319	2296
11816	end subsurface finish: CONTROL_FINISHED_OK
state	11816	begin surface