Glider dive log

DavisStrait Sep08 * SG108 * Dive index * Mission links * Dive 606 * 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 606 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 27 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 500 CALL_NDIVES 1 R_STBD_OVSHOOT 20 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 27 VBD_BLEED_AD_RATE 8

C_VBD 2650 MAX_BUOY 150 R_STBD_OVSHOOT 20 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 606 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 2.71 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -3.5 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 6.57,-1.793,-1.765 XPDR_PINGS 118

FINISH1 6.6,1.025872,87 _24V_AH 21.4,93.528

FINISH2 5.6 _10V_AH 10.4,41.766

RAFOS_CLK 540 DATA_FILE_SIZE 25275,783

RAFOS 0,1231013048,20.083334,20.068890,115,62,55,50,50,49,578,200,139,120,1901,161 CAP_FILE_SIZE 102591,0

RAFOS_FIX 6636.425781,-6052.078613,020109,161644,2,69,0.09 CFSIZE 260165632,214409216

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 0.027612 SOUNDSPEED 1444.0

HUMID 1833 GPS 030109,124944,6637.667,-6039.743,13,0.9,13,-38.0

INTERNAL_PRESSURE 9.89296 ESCAPE_REASON NO_RECENT_FIX

TCM_TEMP 14.90 ESCAPE_STARTED_DIVE 581

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 8 154 28.93 SBE_CT 547 24 281.44

Roll_motor 121 95 246.37 SBE_O2 0 0 0.00

VBD_pump_during_apogee 425 1148 10451.08 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 29 420 265.15

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 0 50 0.00

TT8 1404 19 291.03

LPSleep 8091 2 194.38

TT8_Active 503 19 104.24

TT8_Sampling 1466 39 608.74

TT8_CF8 263 45 125.90

TT8_Kalman 0 0 0.00

Analog_circuits 1332 12 166.31

GPS_charging 0 0 0.00

Compass 1454 8 121.01

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 52 0.00 0.00 -32.72 0.000 2 0.000 0.000 2703 319 2990

56 -0.99 -146.0 3.2 -1.6 6 75 0.65 0.85 -10.30 0.000 4 0.067 0.095 2452 825 3249

263 -0.68 -146.0 30.6 -19.9 42 270 0.32 2.28 0.00 0.000 6 0.153 0.064 2532 2235 3253

610 -0.68 -146.0 63.4 -7.0 103 616 0.00 2.33 0.00 0.000 4 0.000 0.065 2532 812 3253

625 -0.68 -146.0 64.1 -6.2 105 631 0.00 2.33 0.00 0.000 6 0.000 0.062 2523 2231 3253

971 -0.68 -146.0 98.1 -9.9 166 977 0.00 2.22 0.00 0.000 4 0.000 0.078 2513 3599 3253

996 -0.68 -146.0 100.7 -10.5 170 1000 0.00 2.17 0.00 0.000 6 0.000 0.051 2513 2213 3253

1330 -0.68 -146.0 136.3 -9.7 186 1331 0.00 0.00 0.00 0.000 6 0.000 0.000 2513 2212 3253

1638 -0.68 -146.0 163.8 -8.7 201 1641 0.00 2.22 0.00 0.000 4 0.000 0.066 2513 821 3253

1672 -0.68 -146.0 166.9 -8.7 202 1677 0.12 2.33 0.00 0.000 6 0.140 0.065 2537 2230 3252

1990 -0.80 -146.0 186.8 -5.0 217 1994 0.12 2.33 0.00 0.000 4 0.081 0.064 2485 810 3253

2018 -0.72 -146.0 188.9 -7.6 218 2023 0.17 2.35 0.00 0.000 6 0.141 0.064 2523 2237 3252

2341 -0.81 -146.0 213.7 -8.8 234 2344 0.00 2.33 0.00 0.000 4 0.000 0.065 2524 814 3252

2358 -0.89 -146.0 215.4 -8.7 234 2365 0.12 2.35 0.00 0.000 6 0.082 0.065 2465 2239 3252

2676 -0.80 -146.0 245.7 -9.1 250 2680 0.15 2.33 0.00 0.000 4 0.153 0.064 2510 824 3252

2777 -0.80 -146.0 253.3 -6.9 254 2783 0.00 2.35 0.00 0.000 6 0.000 0.067 2503 2244 3252

3094 -0.80 -146.0 272.8 -5.9 270 3098 0.00 2.33 0.00 0.000 4 0.000 0.064 2503 812 3252

3141 -0.80 -146.0 275.9 -6.8 272 3145 0.00 2.35 0.00 0.000 6 0.000 0.064 2493 2239 3252

3468 -0.80 -146.0 300.8 -7.7 288 3469 0.00 0.00 0.00 0.000 6 0.000 0.000 2493 2239 3252

3778 -0.80 -146.0 320.4 -5.6 303 3781 0.00 2.22 0.00 0.000 4 0.000 0.081 2483 3600 3251

3803 -0.80 -146.0 321.8 -5.9 304 3807 0.10 2.17 0.00 0.000 6 0.152 0.053 2507 2215 3252

4140 -0.91 -146.0 341.5 -6.5 320 4144 0.10 2.33 0.00 0.000 4 0.096 0.077 2455 3608 3251

4168 -0.91 -146.0 344.1 -8.5 321 4172 0.12 2.17 0.00 0.000 6 0.155 0.052 2486 2225 3252

4490 -0.91 -146.0 366.6 -6.4 337 4493 0.00 2.25 0.00 0.000 4 0.000 0.064 2486 817 3251

4502 -0.91 -146.0 367.3 -6.5 337 4506 0.00 2.35 0.00 0.000 6 0.000 0.064 2479 2242 3251

4819 -0.91 -146.0 388.7 -6.5 352 4820 0.00 0.00 0.00 0.000 6 0.000 0.000 2479 2242 3252

5146 -0.91 -146.0 408.1 -6.0 365 5150 0.00 2.33 0.00 0.000 4 0.000 0.062 2479 819 3252

5193 -0.91 -146.0 411.1 -6.7 366 5197 0.00 2.33 0.00 0.000 6 0.000 0.064 2469 2238 3252

5524 -0.91 -146.0 432.3 -6.2 374 5528 0.00 2.22 0.00 0.000 4 0.000 0.077 2459 3604 3252

5558 -0.91 -146.0 434.9 -7.5 374 5563 0.10 2.17 0.00 0.000 6 0.150 0.050 2484 2214 3252

5896 -0.96 -146.0 454.1 -5.6 383 5900 0.00 2.33 0.00 0.000 4 0.000 0.074 2476 3612 3253

5910 end dive: TARGET_DEPTH_EXCEEDED

state 5910 begin apogee

5922 -0.31 0.0 455.2 5.6 383 6052 0.43 0.00 127.18 1.149 6 0.130 0.000 2611 1739 2650

6053 end apogee: CONTROL_FINISHED_OK

state 6053 begin climb

6056 0.99 146.0 457.9 0.0 386 6193 0.90 0.00 132.32 1.066 6 0.100 0.000 2896 1739 2054

6510 0.82 146.0 418.2 9.7 397 6515 0.15 2.42 0.00 0.000 4 0.134 0.067 2856 3164 2048

6550 0.69 146.0 414.3 9.3 397 6557 0.15 2.33 0.00 0.000 6 0.136 0.051 2823 1733 2046

6863 0.84 182.0 395.2 5.9 407 6901 0.15 0.00 31.08 1.053 6 0.070 0.000 2888 1733 1907

7212 0.75 182.0 363.3 9.2 424 7217 0.17 2.35 0.00 0.000 4 0.123 0.067 2836 3158 1904

7252 0.75 182.0 359.9 7.9 426 7256 0.00 2.25 0.00 0.000 6 0.000 0.051 2843 1735 1903

7587 0.89 236.3 340.8 5.3 442 7643 0.12 2.40 47.65 1.046 4 0.077 0.064 2911 335 1686

7674 0.83 236.3 334.3 8.4 446 7679 0.20 2.35 0.00 0.000 6 0.130 0.053 2854 1755 1684

8002 0.97 250.3 313.1 6.6 462 8024 0.12 2.33 12.27 0.957 4 0.074 0.068 2912 3154 1629

8089 0.75 250.3 304.1 11.6 465 8096 0.28 2.25 0.00 0.000 6 0.129 0.051 2840 1737 1627

8406 1.16 292.5 285.4 5.7 481 8452 0.25 2.40 38.95 1.012 4 0.079 0.067 2937 3146 1457

8510 0.86 292.5 275.3 12.5 485 8517 0.30 2.28 0.00 0.000 6 0.132 0.051 2860 1726 1452

8827 1.37 292.5 248.9 10.1 501 8832 0.35 2.28 0.00 0.000 4 0.086 0.065 2984 330 1449

8897 1.11 292.5 240.7 13.3 504 8902 0.22 2.30 0.00 0.000 6 0.143 0.055 2921 1742 1449

9219 1.11 292.5 208.7 8.5 520 9223 0.00 2.28 0.00 0.000 4 0.000 0.070 2921 3158 1447

9247 1.01 292.5 206.0 9.6 521 9252 0.12 2.25 0.00 0.000 6 0.140 0.052 2895 1731 1447

9570 1.15 307.0 181.7 6.6 537 9592 0.12 2.35 12.20 0.930 4 0.075 0.067 2964 330 1398

9662 1.06 307.0 173.0 9.7 541 9667 0.20 2.33 0.00 0.000 6 0.130 0.057 2906 1754 1398

9992 1.19 307.0 147.1 7.2 557 9997 0.12 2.28 0.00 0.000 4 0.075 0.071 2963 3161 1396

10056 0.97 307.0 140.2 12.0 560 10061 0.30 2.28 0.00 0.000 6 0.133 0.054 2884 1729 1395

10385 1.65 307.0 112.5 9.2 576 10390 0.45 2.30 0.00 0.000 4 0.102 0.068 3037 323 1394

10448 1.33 307.0 105.1 12.7 579 10453 0.25 2.30 0.00 0.000 6 0.154 0.058 2969 1743 1394

10790 1.24 307.0 73.4 9.5 631 10796 0.00 2.28 0.00 0.000 4 0.000 0.071 2969 3153 1394

10911 1.05 307.0 58.6 12.4 652 10918 0.25 2.25 0.00 0.000 6 0.130 0.056 2903 1740 1394

11258 1.22 332.1 32.2 6.2 713 11289 0.15 2.33 23.40 0.912 4 0.071 0.067 2981 330 1296

11396 1.05 332.1 20.2 10.6 736 11403 0.25 2.33 0.00 0.000 6 0.106 0.058 2902 1747 1293

11622 end climb: FINISH_DEPTH_REACHED

state 11622 begin subsurface finish

11632 0.11 87.3 6.6 -7.0 776 11673 0.60 2.33 -32.92 0.000 4 0.111 0.087 2692 3159 2297

11674 end subsurface finish: CONTROL_FINISHED_OK

state 11674 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	606	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	27	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	500	CALL_NDIVES	1	R_STBD_OVSHOOT	20	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	2.71	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-3.5	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	6.57,-1.793,-1.765	XPDR_PINGS	118
FINISH1	6.6,1.025872,87	_24V_AH	21.4,93.528
FINISH2	5.6	_10V_AH	10.4,41.766
RAFOS_CLK	540	DATA_FILE_SIZE	25275,783
RAFOS	0,1231013048,20.083334,20.068890,115,62,55,50,50,49,578,200,139,120,1901,161	CAP_FILE_SIZE	102591,0
RAFOS_FIX	6636.425781,-6052.078613,020109,161644,2,69,0.09	CFSIZE	260165632,214409216
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	0.027612	SOUNDSPEED	1444.0
HUMID	1833	GPS	030109,124944,6637.667,-6039.743,13,0.9,13,-38.0
INTERNAL_PRESSURE	9.89296	ESCAPE_REASON	NO_RECENT_FIX
TCM_TEMP	14.90	ESCAPE_STARTED_DIVE	581

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	8	154	28.93	SBE_CT	547	24	281.44
Roll_motor	121	95	246.37	SBE_O2	0	0	0.00
VBD_pump_during_apogee	425	1148	10451.08	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	29	420	265.15
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	0	50	0.00
TT8	1404	19	291.03
LPSleep	8091	2	194.38
TT8_Active	503	19	104.24
TT8_Sampling	1466	39	608.74
TT8_CF8	263	45	125.90
TT8_Kalman	0	0	0.00
Analog_circuits	1332	12	166.31
GPS_charging	0	0	0.00
Compass	1454	8	121.01
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	52	0.00	0.00	-32.72	0.000	2	0.000	0.000	2703	319	2990
56	-0.99	-146.0	3.2	-1.6	6	75	0.65	0.85	-10.30	0.000	4	0.067	0.095	2452	825	3249
263	-0.68	-146.0	30.6	-19.9	42	270	0.32	2.28	0.00	0.000	6	0.153	0.064	2532	2235	3253
610	-0.68	-146.0	63.4	-7.0	103	616	0.00	2.33	0.00	0.000	4	0.000	0.065	2532	812	3253
625	-0.68	-146.0	64.1	-6.2	105	631	0.00	2.33	0.00	0.000	6	0.000	0.062	2523	2231	3253
971	-0.68	-146.0	98.1	-9.9	166	977	0.00	2.22	0.00	0.000	4	0.000	0.078	2513	3599	3253
996	-0.68	-146.0	100.7	-10.5	170	1000	0.00	2.17	0.00	0.000	6	0.000	0.051	2513	2213	3253
1330	-0.68	-146.0	136.3	-9.7	186	1331	0.00	0.00	0.00	0.000	6	0.000	0.000	2513	2212	3253
1638	-0.68	-146.0	163.8	-8.7	201	1641	0.00	2.22	0.00	0.000	4	0.000	0.066	2513	821	3253
1672	-0.68	-146.0	166.9	-8.7	202	1677	0.12	2.33	0.00	0.000	6	0.140	0.065	2537	2230	3252
1990	-0.80	-146.0	186.8	-5.0	217	1994	0.12	2.33	0.00	0.000	4	0.081	0.064	2485	810	3253
2018	-0.72	-146.0	188.9	-7.6	218	2023	0.17	2.35	0.00	0.000	6	0.141	0.064	2523	2237	3252
2341	-0.81	-146.0	213.7	-8.8	234	2344	0.00	2.33	0.00	0.000	4	0.000	0.065	2524	814	3252
2358	-0.89	-146.0	215.4	-8.7	234	2365	0.12	2.35	0.00	0.000	6	0.082	0.065	2465	2239	3252
2676	-0.80	-146.0	245.7	-9.1	250	2680	0.15	2.33	0.00	0.000	4	0.153	0.064	2510	824	3252
2777	-0.80	-146.0	253.3	-6.9	254	2783	0.00	2.35	0.00	0.000	6	0.000	0.067	2503	2244	3252
3094	-0.80	-146.0	272.8	-5.9	270	3098	0.00	2.33	0.00	0.000	4	0.000	0.064	2503	812	3252
3141	-0.80	-146.0	275.9	-6.8	272	3145	0.00	2.35	0.00	0.000	6	0.000	0.064	2493	2239	3252
3468	-0.80	-146.0	300.8	-7.7	288	3469	0.00	0.00	0.00	0.000	6	0.000	0.000	2493	2239	3252
3778	-0.80	-146.0	320.4	-5.6	303	3781	0.00	2.22	0.00	0.000	4	0.000	0.081	2483	3600	3251
3803	-0.80	-146.0	321.8	-5.9	304	3807	0.10	2.17	0.00	0.000	6	0.152	0.053	2507	2215	3252
4140	-0.91	-146.0	341.5	-6.5	320	4144	0.10	2.33	0.00	0.000	4	0.096	0.077	2455	3608	3251
4168	-0.91	-146.0	344.1	-8.5	321	4172	0.12	2.17	0.00	0.000	6	0.155	0.052	2486	2225	3252
4490	-0.91	-146.0	366.6	-6.4	337	4493	0.00	2.25	0.00	0.000	4	0.000	0.064	2486	817	3251
4502	-0.91	-146.0	367.3	-6.5	337	4506	0.00	2.35	0.00	0.000	6	0.000	0.064	2479	2242	3251
4819	-0.91	-146.0	388.7	-6.5	352	4820	0.00	0.00	0.00	0.000	6	0.000	0.000	2479	2242	3252
5146	-0.91	-146.0	408.1	-6.0	365	5150	0.00	2.33	0.00	0.000	4	0.000	0.062	2479	819	3252
5193	-0.91	-146.0	411.1	-6.7	366	5197	0.00	2.33	0.00	0.000	6	0.000	0.064	2469	2238	3252
5524	-0.91	-146.0	432.3	-6.2	374	5528	0.00	2.22	0.00	0.000	4	0.000	0.077	2459	3604	3252
5558	-0.91	-146.0	434.9	-7.5	374	5563	0.10	2.17	0.00	0.000	6	0.150	0.050	2484	2214	3252
5896	-0.96	-146.0	454.1	-5.6	383	5900	0.00	2.33	0.00	0.000	4	0.000	0.074	2476	3612	3253
5910	end dive: TARGET_DEPTH_EXCEEDED
state	5910	begin apogee
5922	-0.31	0.0	455.2	5.6	383	6052	0.43	0.00	127.18	1.149	6	0.130	0.000	2611	1739	2650
6053	end apogee: CONTROL_FINISHED_OK
state	6053	begin climb
6056	0.99	146.0	457.9	0.0	386	6193	0.90	0.00	132.32	1.066	6	0.100	0.000	2896	1739	2054
6510	0.82	146.0	418.2	9.7	397	6515	0.15	2.42	0.00	0.000	4	0.134	0.067	2856	3164	2048
6550	0.69	146.0	414.3	9.3	397	6557	0.15	2.33	0.00	0.000	6	0.136	0.051	2823	1733	2046
6863	0.84	182.0	395.2	5.9	407	6901	0.15	0.00	31.08	1.053	6	0.070	0.000	2888	1733	1907
7212	0.75	182.0	363.3	9.2	424	7217	0.17	2.35	0.00	0.000	4	0.123	0.067	2836	3158	1904
7252	0.75	182.0	359.9	7.9	426	7256	0.00	2.25	0.00	0.000	6	0.000	0.051	2843	1735	1903
7587	0.89	236.3	340.8	5.3	442	7643	0.12	2.40	47.65	1.046	4	0.077	0.064	2911	335	1686
7674	0.83	236.3	334.3	8.4	446	7679	0.20	2.35	0.00	0.000	6	0.130	0.053	2854	1755	1684
8002	0.97	250.3	313.1	6.6	462	8024	0.12	2.33	12.27	0.957	4	0.074	0.068	2912	3154	1629
8089	0.75	250.3	304.1	11.6	465	8096	0.28	2.25	0.00	0.000	6	0.129	0.051	2840	1737	1627
8406	1.16	292.5	285.4	5.7	481	8452	0.25	2.40	38.95	1.012	4	0.079	0.067	2937	3146	1457
8510	0.86	292.5	275.3	12.5	485	8517	0.30	2.28	0.00	0.000	6	0.132	0.051	2860	1726	1452
8827	1.37	292.5	248.9	10.1	501	8832	0.35	2.28	0.00	0.000	4	0.086	0.065	2984	330	1449
8897	1.11	292.5	240.7	13.3	504	8902	0.22	2.30	0.00	0.000	6	0.143	0.055	2921	1742	1449
9219	1.11	292.5	208.7	8.5	520	9223	0.00	2.28	0.00	0.000	4	0.000	0.070	2921	3158	1447
9247	1.01	292.5	206.0	9.6	521	9252	0.12	2.25	0.00	0.000	6	0.140	0.052	2895	1731	1447
9570	1.15	307.0	181.7	6.6	537	9592	0.12	2.35	12.20	0.930	4	0.075	0.067	2964	330	1398
9662	1.06	307.0	173.0	9.7	541	9667	0.20	2.33	0.00	0.000	6	0.130	0.057	2906	1754	1398
9992	1.19	307.0	147.1	7.2	557	9997	0.12	2.28	0.00	0.000	4	0.075	0.071	2963	3161	1396
10056	0.97	307.0	140.2	12.0	560	10061	0.30	2.28	0.00	0.000	6	0.133	0.054	2884	1729	1395
10385	1.65	307.0	112.5	9.2	576	10390	0.45	2.30	0.00	0.000	4	0.102	0.068	3037	323	1394
10448	1.33	307.0	105.1	12.7	579	10453	0.25	2.30	0.00	0.000	6	0.154	0.058	2969	1743	1394
10790	1.24	307.0	73.4	9.5	631	10796	0.00	2.28	0.00	0.000	4	0.000	0.071	2969	3153	1394
10911	1.05	307.0	58.6	12.4	652	10918	0.25	2.25	0.00	0.000	6	0.130	0.056	2903	1740	1394
11258	1.22	332.1	32.2	6.2	713	11289	0.15	2.33	23.40	0.912	4	0.071	0.067	2981	330	1296
11396	1.05	332.1	20.2	10.6	736	11403	0.25	2.33	0.00	0.000	6	0.106	0.058	2902	1747	1293
11622	end climb: FINISH_DEPTH_REACHED
state	11622	begin subsurface finish
11632	0.11	87.3	6.6	-7.0	776	11673	0.60	2.33	-32.92	0.000	4	0.111	0.087	2692	3159	2297
11674	end subsurface finish: CONTROL_FINISHED_OK
state	11674	begin surface