Glider dive log

DavisStrait Sep08 * SG108 * Dive index * Mission links * Dive 600 * 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 600 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 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 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 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 600 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 3.74 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -6.7 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 6.80,-1.793,-1.770 XPDR_PINGS 128

FINISH1 6.8,1.025939,84 _24V_AH 21.5,92.698

FINISH2 6.0 _10V_AH 10.4,41.484

RAFOS_CLK 478 DATA_FILE_SIZE 25321,776

RAFOS 0,1230955444,4.083333,4.067778,155,66,64,61,54,54,641,222,197,169,156,211 CAP_FILE_SIZE 91549,0

RAFOS_FIX 6636.425781,-6052.078613,020109,161644,2,69,0.09 CFSIZE 260165632,214712320

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 1442.7

HUMID 1842 GPS 020109,161144,6636.426,-6052.079,0,2069.0,0,-37.3

INTERNAL_PRESSURE 9.89296 ESCAPE_REASON NO_RECENT_FIX

TCM_TEMP 14.70 ESCAPE_STARTED_DIVE 581

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 7 153 26.05 SBE_CT 541 24 279.19

Roll_motor 106 97 223.51 SBE_O2 0 0 0.00

VBD_pump_during_apogee 506 1124 12248.91 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 32 420 288.96

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 0 50 0.00

TT8 1332 19 276.04

LPSleep 6763 2 162.48

TT8_Active 558 19 115.69

TT8_Sampling 1390 39 577.08

TT8_CF8 235 45 112.58

TT8_Kalman 0 0 0.00

Analog_circuits 1349 12 168.46

GPS_charging 0 0 0.00

Compass 1380 8 114.88

RAFOS 360 1 5.62

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 35 0.00 0.00 -16.65 0.000 2 0.000 0.000 2705 321 2671

40 -0.99 -146.0 3.0 -3.2 3 70 0.65 0.82 -22.92 0.000 4 0.061 0.097 2447 837 3248

326 -0.67 -146.0 36.1 -7.1 53 333 0.35 2.25 0.00 0.000 6 0.147 0.066 2536 2234 3253

673 -0.67 -146.0 57.3 -5.5 114 679 0.00 2.33 0.00 0.000 4 0.000 0.066 2537 810 3253

726 -0.67 -146.0 62.1 -8.6 123 732 0.00 2.35 0.00 0.000 6 0.000 0.064 2529 2245 3253

1072 -0.67 -146.0 95.0 -9.5 184 1077 0.00 0.00 0.00 0.000 6 0.000 0.000 2529 2245 3253

1397 -0.67 -146.0 124.1 -8.5 207 1401 0.00 2.35 0.00 0.000 4 0.000 0.065 2529 806 3253

1408 -0.67 -146.0 125.0 -8.2 207 1412 0.00 2.35 0.00 0.000 6 0.000 0.064 2519 2238 3253

1731 -0.67 -146.0 153.6 -8.9 223 1732 0.00 0.00 0.00 0.000 6 0.000 0.000 2519 2237 3253

2040 -0.67 -146.0 180.1 -7.7 238 2043 0.00 2.22 0.00 0.000 4 0.000 0.081 2508 3597 3252

2063 -0.67 -146.0 182.0 -7.5 239 2068 0.10 2.17 0.00 0.000 6 0.153 0.053 2533 2213 3253

2397 -0.77 -146.0 202.8 -5.8 255 2399 0.00 0.00 0.00 0.000 6 0.000 0.000 2533 2213 3253

2706 -0.91 -146.0 224.1 -8.5 270 2710 0.17 2.25 0.00 0.000 4 0.081 0.066 2463 814 3252

2717 -0.99 -146.0 225.1 -8.5 270 2721 0.00 2.35 0.00 0.000 6 0.000 0.065 2453 2242 3252

3040 -0.86 -146.0 257.3 -9.4 286 3045 0.15 2.22 0.00 0.000 4 0.151 0.079 2486 3598 3252

3176 -0.86 -146.0 268.9 -8.7 292 3180 0.00 2.17 0.00 0.000 6 0.000 0.054 2486 2217 3252

3509 -0.86 -146.0 295.0 -7.4 308 3513 0.00 2.30 0.00 0.000 4 0.000 0.078 2476 3601 3252

3578 -0.86 -146.0 300.1 -7.2 311 3582 0.00 2.17 0.00 0.000 6 0.000 0.053 2476 2215 3252

3912 -0.86 -146.0 320.0 -5.4 327 3916 0.00 2.25 0.00 0.000 4 0.000 0.066 2476 811 3252

3970 -0.79 -146.0 323.4 -5.5 329 3975 0.15 2.33 0.00 0.000 6 0.137 0.064 2507 2236 3252

4292 -0.89 -146.0 338.3 -4.7 345 4296 0.00 2.33 0.00 0.000 4 0.000 0.065 2507 813 3251

4310 -0.99 -146.0 339.2 -5.1 345 4316 0.12 2.33 0.00 0.000 6 0.082 0.063 2449 2232 3251

4627 -0.90 -146.0 363.1 -7.6 361 4632 0.15 2.22 0.00 0.000 4 0.152 0.076 2481 3603 3251

4639 -0.84 -146.0 364.1 -7.3 361 4643 0.00 2.17 0.00 0.000 6 0.000 0.051 2481 2214 3252

4961 -0.84 -146.0 385.9 -6.4 377 4965 0.00 2.22 0.00 0.000 4 0.000 0.064 2481 820 3252

4969 end dive: TARGET_DEPTH_EXCEEDED

state 4969 begin apogee

4980 -0.31 0.0 386.6 6.1 377 5111 0.43 0.00 126.05 1.124 6 0.133 0.000 2608 1745 2649

5112 end apogee: CONTROL_FINISHED_OK

state 5112 begin climb

5116 0.99 146.0 390.0 0.0 384 5256 0.90 2.70 130.80 1.039 4 0.102 0.066 2904 346 2054

5290 0.85 146.0 378.9 9.1 392 5295 0.17 2.53 0.00 0.000 6 0.136 0.054 2861 1739 2052

5617 0.85 146.0 354.8 8.1 408 5621 0.00 2.35 0.00 0.000 4 0.000 0.069 2861 3164 2046

5686 0.71 146.0 348.3 9.4 411 5691 0.15 2.30 0.00 0.000 6 0.138 0.054 2827 1735 2046

6020 0.84 167.2 324.8 6.3 427 6040 0.12 0.00 17.77 1.007 6 0.077 0.000 2883 1735 1968

6348 0.77 167.2 299.5 7.8 443 6352 0.15 2.33 0.00 0.000 4 0.127 0.067 2848 329 1966

6395 0.92 178.7 296.4 6.7 445 6417 0.12 2.33 11.40 0.959 6 0.078 0.054 2906 1752 1921

6729 0.79 178.7 267.1 9.4 461 6733 0.20 2.28 0.00 0.000 4 0.130 0.070 2843 3151 1920

6791 0.79 178.7 261.9 7.4 463 6798 0.00 2.25 0.00 0.000 6 0.000 0.052 2850 1736 1919

7108 0.98 241.5 243.9 5.0 479 7172 0.15 2.42 55.65 1.016 4 0.074 0.069 2918 3159 1664

7212 0.80 241.5 234.2 12.2 483 7219 0.28 2.33 0.00 0.000 6 0.131 0.053 2849 1728 1659

7530 1.29 254.1 211.1 6.6 499 7546 0.32 2.38 10.57 0.906 4 0.080 0.068 2968 3158 1614

7646 0.97 254.1 200.3 10.9 503 7651 0.32 2.28 0.00 0.000 6 0.143 0.054 2884 1734 1611

7968 1.12 254.1 178.0 7.2 519 7973 0.15 2.30 0.00 0.000 4 0.069 0.070 2959 333 1610

7997 1.12 254.1 175.2 9.4 520 8002 0.15 2.30 0.00 0.000 6 0.140 0.056 2918 1743 1610

8320 1.12 254.1 148.7 8.2 536 8323 0.00 2.28 0.00 0.000 4 0.000 0.071 2918 3150 1609

8372 1.02 254.1 143.6 9.8 538 8376 0.10 2.25 0.00 0.000 6 0.146 0.054 2900 1733 1608

8699 1.13 261.2 121.1 6.8 554 8713 0.10 2.40 6.80 0.834 4 0.084 0.071 2960 323 1585

8755 1.06 261.2 116.2 9.2 556 8760 0.17 2.33 0.00 0.000 6 0.136 0.058 2910 1739 1585

9080 1.16 269.1 94.5 6.8 580 9094 0.08 2.38 8.80 0.875 4 0.098 0.071 2951 3161 1553

9176 0.97 269.1 85.8 8.9 596 9183 0.25 2.30 0.00 0.000 6 0.133 0.057 2888 1727 1552

9523 1.55 399.6 68.2 2.8 657 9646 0.38 2.58 115.62 0.916 4 0.079 0.073 3026 3155 1020

9705 1.25 399.6 46.7 18.1 688 9712 0.32 2.38 0.00 0.000 6 0.145 0.055 2947 1729 1013

10052 1.36 428.1 14.5 6.1 749 10082 0.10 2.35 23.20 0.859 4 0.083 0.071 3001 325 903

10155 end climb: FINISH_DEPTH_REACHED

state 10159 begin subsurface finish

10170 0.10 84.1 6.8 -5.6 767 10224 0.93 2.33 -45.17 0.000 4 0.118 0.086 2693 3159 2310

10226 end subsurface finish: CONTROL_FINISHED_OK

state 10226 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	600	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	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	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	3.74	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-6.7	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	6.80,-1.793,-1.770	XPDR_PINGS	128
FINISH1	6.8,1.025939,84	_24V_AH	21.5,92.698
FINISH2	6.0	_10V_AH	10.4,41.484
RAFOS_CLK	478	DATA_FILE_SIZE	25321,776
RAFOS	0,1230955444,4.083333,4.067778,155,66,64,61,54,54,641,222,197,169,156,211	CAP_FILE_SIZE	91549,0
RAFOS_FIX	6636.425781,-6052.078613,020109,161644,2,69,0.09	CFSIZE	260165632,214712320
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	1442.7
HUMID	1842	GPS	020109,161144,6636.426,-6052.079,0,2069.0,0,-37.3
INTERNAL_PRESSURE	9.89296	ESCAPE_REASON	NO_RECENT_FIX
TCM_TEMP	14.70	ESCAPE_STARTED_DIVE	581

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	7	153	26.05	SBE_CT	541	24	279.19
Roll_motor	106	97	223.51	SBE_O2	0	0	0.00
VBD_pump_during_apogee	506	1124	12248.91	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	32	420	288.96
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	0	50	0.00
TT8	1332	19	276.04
LPSleep	6763	2	162.48
TT8_Active	558	19	115.69
TT8_Sampling	1390	39	577.08
TT8_CF8	235	45	112.58
TT8_Kalman	0	0	0.00
Analog_circuits	1349	12	168.46
GPS_charging	0	0	0.00
Compass	1380	8	114.88
RAFOS	360	1	5.62
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	35	0.00	0.00	-16.65	0.000	2	0.000	0.000	2705	321	2671
40	-0.99	-146.0	3.0	-3.2	3	70	0.65	0.82	-22.92	0.000	4	0.061	0.097	2447	837	3248
326	-0.67	-146.0	36.1	-7.1	53	333	0.35	2.25	0.00	0.000	6	0.147	0.066	2536	2234	3253
673	-0.67	-146.0	57.3	-5.5	114	679	0.00	2.33	0.00	0.000	4	0.000	0.066	2537	810	3253
726	-0.67	-146.0	62.1	-8.6	123	732	0.00	2.35	0.00	0.000	6	0.000	0.064	2529	2245	3253
1072	-0.67	-146.0	95.0	-9.5	184	1077	0.00	0.00	0.00	0.000	6	0.000	0.000	2529	2245	3253
1397	-0.67	-146.0	124.1	-8.5	207	1401	0.00	2.35	0.00	0.000	4	0.000	0.065	2529	806	3253
1408	-0.67	-146.0	125.0	-8.2	207	1412	0.00	2.35	0.00	0.000	6	0.000	0.064	2519	2238	3253
1731	-0.67	-146.0	153.6	-8.9	223	1732	0.00	0.00	0.00	0.000	6	0.000	0.000	2519	2237	3253
2040	-0.67	-146.0	180.1	-7.7	238	2043	0.00	2.22	0.00	0.000	4	0.000	0.081	2508	3597	3252
2063	-0.67	-146.0	182.0	-7.5	239	2068	0.10	2.17	0.00	0.000	6	0.153	0.053	2533	2213	3253
2397	-0.77	-146.0	202.8	-5.8	255	2399	0.00	0.00	0.00	0.000	6	0.000	0.000	2533	2213	3253
2706	-0.91	-146.0	224.1	-8.5	270	2710	0.17	2.25	0.00	0.000	4	0.081	0.066	2463	814	3252
2717	-0.99	-146.0	225.1	-8.5	270	2721	0.00	2.35	0.00	0.000	6	0.000	0.065	2453	2242	3252
3040	-0.86	-146.0	257.3	-9.4	286	3045	0.15	2.22	0.00	0.000	4	0.151	0.079	2486	3598	3252
3176	-0.86	-146.0	268.9	-8.7	292	3180	0.00	2.17	0.00	0.000	6	0.000	0.054	2486	2217	3252
3509	-0.86	-146.0	295.0	-7.4	308	3513	0.00	2.30	0.00	0.000	4	0.000	0.078	2476	3601	3252
3578	-0.86	-146.0	300.1	-7.2	311	3582	0.00	2.17	0.00	0.000	6	0.000	0.053	2476	2215	3252
3912	-0.86	-146.0	320.0	-5.4	327	3916	0.00	2.25	0.00	0.000	4	0.000	0.066	2476	811	3252
3970	-0.79	-146.0	323.4	-5.5	329	3975	0.15	2.33	0.00	0.000	6	0.137	0.064	2507	2236	3252
4292	-0.89	-146.0	338.3	-4.7	345	4296	0.00	2.33	0.00	0.000	4	0.000	0.065	2507	813	3251
4310	-0.99	-146.0	339.2	-5.1	345	4316	0.12	2.33	0.00	0.000	6	0.082	0.063	2449	2232	3251
4627	-0.90	-146.0	363.1	-7.6	361	4632	0.15	2.22	0.00	0.000	4	0.152	0.076	2481	3603	3251
4639	-0.84	-146.0	364.1	-7.3	361	4643	0.00	2.17	0.00	0.000	6	0.000	0.051	2481	2214	3252
4961	-0.84	-146.0	385.9	-6.4	377	4965	0.00	2.22	0.00	0.000	4	0.000	0.064	2481	820	3252
4969	end dive: TARGET_DEPTH_EXCEEDED
state	4969	begin apogee
4980	-0.31	0.0	386.6	6.1	377	5111	0.43	0.00	126.05	1.124	6	0.133	0.000	2608	1745	2649
5112	end apogee: CONTROL_FINISHED_OK
state	5112	begin climb
5116	0.99	146.0	390.0	0.0	384	5256	0.90	2.70	130.80	1.039	4	0.102	0.066	2904	346	2054
5290	0.85	146.0	378.9	9.1	392	5295	0.17	2.53	0.00	0.000	6	0.136	0.054	2861	1739	2052
5617	0.85	146.0	354.8	8.1	408	5621	0.00	2.35	0.00	0.000	4	0.000	0.069	2861	3164	2046
5686	0.71	146.0	348.3	9.4	411	5691	0.15	2.30	0.00	0.000	6	0.138	0.054	2827	1735	2046
6020	0.84	167.2	324.8	6.3	427	6040	0.12	0.00	17.77	1.007	6	0.077	0.000	2883	1735	1968
6348	0.77	167.2	299.5	7.8	443	6352	0.15	2.33	0.00	0.000	4	0.127	0.067	2848	329	1966
6395	0.92	178.7	296.4	6.7	445	6417	0.12	2.33	11.40	0.959	6	0.078	0.054	2906	1752	1921
6729	0.79	178.7	267.1	9.4	461	6733	0.20	2.28	0.00	0.000	4	0.130	0.070	2843	3151	1920
6791	0.79	178.7	261.9	7.4	463	6798	0.00	2.25	0.00	0.000	6	0.000	0.052	2850	1736	1919
7108	0.98	241.5	243.9	5.0	479	7172	0.15	2.42	55.65	1.016	4	0.074	0.069	2918	3159	1664
7212	0.80	241.5	234.2	12.2	483	7219	0.28	2.33	0.00	0.000	6	0.131	0.053	2849	1728	1659
7530	1.29	254.1	211.1	6.6	499	7546	0.32	2.38	10.57	0.906	4	0.080	0.068	2968	3158	1614
7646	0.97	254.1	200.3	10.9	503	7651	0.32	2.28	0.00	0.000	6	0.143	0.054	2884	1734	1611
7968	1.12	254.1	178.0	7.2	519	7973	0.15	2.30	0.00	0.000	4	0.069	0.070	2959	333	1610
7997	1.12	254.1	175.2	9.4	520	8002	0.15	2.30	0.00	0.000	6	0.140	0.056	2918	1743	1610
8320	1.12	254.1	148.7	8.2	536	8323	0.00	2.28	0.00	0.000	4	0.000	0.071	2918	3150	1609
8372	1.02	254.1	143.6	9.8	538	8376	0.10	2.25	0.00	0.000	6	0.146	0.054	2900	1733	1608
8699	1.13	261.2	121.1	6.8	554	8713	0.10	2.40	6.80	0.834	4	0.084	0.071	2960	323	1585
8755	1.06	261.2	116.2	9.2	556	8760	0.17	2.33	0.00	0.000	6	0.136	0.058	2910	1739	1585
9080	1.16	269.1	94.5	6.8	580	9094	0.08	2.38	8.80	0.875	4	0.098	0.071	2951	3161	1553
9176	0.97	269.1	85.8	8.9	596	9183	0.25	2.30	0.00	0.000	6	0.133	0.057	2888	1727	1552
9523	1.55	399.6	68.2	2.8	657	9646	0.38	2.58	115.62	0.916	4	0.079	0.073	3026	3155	1020
9705	1.25	399.6	46.7	18.1	688	9712	0.32	2.38	0.00	0.000	6	0.145	0.055	2947	1729	1013
10052	1.36	428.1	14.5	6.1	749	10082	0.10	2.35	23.20	0.859	4	0.083	0.071	3001	325	903
10155	end climb: FINISH_DEPTH_REACHED
state	10159	begin subsurface finish
10170	0.10	84.1	6.8	-5.6	767	10224	0.93	2.33	-45.17	0.000	4	0.118	0.086	2693	3159	2310
10226	end subsurface finish: CONTROL_FINISHED_OK
state	10226	begin surface