Glider dive log

DavisStrait Sep08 * SG108 * Dive index * Mission links * Dive 607 * 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 607 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 607 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 3.31 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -13.6 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 6.87,-1.780,-1.767 XPDR_PINGS 108

FINISH1 6.9,1.025896,86 _24V_AH 21.5,93.658

FINISH2 5.2 _10V_AH 10.4,41.811

RAFOS_CLK 526 DATA_FILE_SIZE 22128,712

RAFOS 0,1231027454,0.083333,0.070556,105,64,57,50,49,48,555,206,170,128,149,218 CAP_FILE_SIZE 97290,0

RAFOS_FIX 6636.425781,-6052.078613,020109,161644,2,69,0.09 CFSIZE 260165632,214368256

IRIDIUM_FIX 6614.97,-5735.48,170398,050547 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,0

TT8_MAMPS 0.026845 SOUNDSPEED 1444.7

HUMID 1844 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 8 165 31.52 SBE_CT 498 24 257.18

Roll_motor 115 85 210.78 SBE_O2 0 0 0.00

VBD_pump_during_apogee 426 1148 10532.40 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 27 420 243.81

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 0 50 0.00

TT8 1309 19 271.23

LPSleep 8063 2 193.71

TT8_Active 502 19 104.12

TT8_Sampling 1344 39 558.07

TT8_CF8 265 45 126.75

TT8_Kalman 0 0 0.00

Analog_circuits 1264 12 157.77

GPS_charging 0 0 0.00

Compass 1338 8 111.39

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

13 end surface: CONTROL_FINISHED_OK

state 13 begin dive

18 -0.99 -146.0 0.0 0.0 0 47 0.00 0.00 -27.20 0.000 2 0.000 0.000 2692 3159 2865

51 -0.99 -146.0 3.1 -2.6 5 76 0.65 3.85 -14.95 0.000 4 0.075 0.067 2453 812 3248

332 -0.72 -146.0 37.8 -9.7 54 339 0.28 2.35 0.00 0.000 6 0.143 0.066 2521 2236 3252

679 -0.72 -146.0 70.8 -9.1 115 685 0.00 2.33 0.00 0.000 4 0.000 0.064 2524 811 3252

692 -0.72 -146.0 71.9 -8.3 117 699 0.00 2.35 0.00 0.000 6 0.000 0.064 2516 2241 3252

1052 -0.72 -146.0 104.5 -10.1 175 1056 0.00 2.20 0.00 0.000 4 0.000 0.078 2506 3602 3252

1136 -0.72 -146.0 112.9 -9.5 178 1142 0.00 2.17 0.00 0.000 6 0.000 0.053 2506 2217 3252

1453 -0.72 -146.0 144.6 -9.0 194 1456 0.00 2.25 0.00 0.000 4 0.000 0.066 2506 813 3252

1533 -0.66 -146.0 152.1 -9.7 197 1537 0.15 2.35 0.00 0.000 6 0.137 0.065 2536 2241 3252

1855 -0.75 -146.0 172.6 -5.9 213 1859 0.00 2.22 0.00 0.000 4 0.000 0.079 2528 3594 3252

1872 -0.86 -146.0 173.7 -5.9 213 1879 0.12 2.17 0.00 0.000 6 0.085 0.053 2473 2214 3252

2190 -0.75 -146.0 199.8 -8.4 229 2192 0.15 0.00 0.00 0.000 6 0.142 0.000 2515 2214 3252

2499 -0.82 -146.0 222.8 -7.3 244 2502 0.00 2.25 0.00 0.000 4 0.000 0.067 2515 819 3251

2510 -0.87 -146.0 224.0 -7.6 244 2515 0.00 2.35 0.00 0.000 6 0.000 0.065 2508 2239 3251

2828 -0.87 -146.0 246.5 -6.7 259 2832 0.00 2.33 0.00 0.000 4 0.000 0.066 2507 820 3251

2868 -0.87 -146.0 249.4 -7.4 260 2874 0.00 2.35 0.00 0.000 6 0.000 0.066 2498 2236 3251

3184 -0.87 -146.0 273.2 -7.1 276 3188 0.00 2.33 0.00 0.000 4 0.000 0.065 2497 817 3251

3208 -0.87 -146.0 275.0 -7.4 277 3212 0.00 2.35 0.00 0.000 6 0.000 0.065 2488 2237 3251

3535 -0.87 -146.0 298.1 -7.3 293 3536 0.00 0.00 0.00 0.000 6 0.000 0.000 2488 2237 3251

3845 -0.87 -146.0 319.8 -6.8 308 3848 0.00 2.22 0.00 0.000 4 0.000 0.080 2477 3593 3251

3858 -0.87 -146.0 320.7 -6.9 308 3862 0.00 2.17 0.00 0.000 6 0.000 0.052 2477 2213 3251

4180 -0.87 -146.0 346.2 -8.2 324 4184 0.00 2.25 0.00 0.000 4 0.000 0.065 2477 813 3251

4214 -0.81 -146.0 349.2 -8.5 325 4219 0.15 2.35 0.00 0.000 6 0.137 0.064 2508 2237 3251

4532 -0.93 -146.0 369.3 -5.9 340 4534 0.12 0.00 0.00 0.000 6 0.089 0.000 2457 2237 3251

4840 -0.86 -146.0 390.8 -6.5 355 4845 0.15 2.25 0.00 0.000 4 0.149 0.078 2489 3602 3251

4874 -0.95 -146.0 392.9 -6.3 356 4881 0.00 2.17 0.00 0.000 6 0.000 0.051 2489 2217 3251

5210 -1.01 -146.0 413.4 -6.4 368 5215 0.12 2.25 0.00 0.000 4 0.088 0.064 2437 811 3251

5244 -0.83 -146.0 416.1 -8.0 368 5251 0.25 2.35 0.00 0.000 6 0.137 0.063 2500 2236 3251

5577 -0.93 -146.0 434.7 -5.4 377 5579 0.10 0.00 0.00 0.000 6 0.094 0.000 2459 2236 3252

5897 end dive: TARGET_DEPTH_EXCEEDED

state 5898 begin apogee

5907 -0.31 0.0 457.3 7.2 385 6037 0.50 0.00 127.05 1.148 6 0.129 0.000 2613 1737 2650

6038 end apogee: CONTROL_FINISHED_OK

state 6038 begin climb

6042 0.99 146.0 460.4 0.0 388 6179 0.88 0.00 132.50 1.067 6 0.097 0.000 2893 1736 2054

6491 0.83 146.0 427.1 8.2 399 6496 0.15 2.40 0.00 0.000 4 0.133 0.067 2861 327 2048

6537 0.85 157.1 423.8 6.7 400 6551 0.00 2.38 9.75 0.945 6 0.000 0.055 2861 1748 2009

6896 0.80 157.1 397.5 7.8 409 6900 0.00 2.28 0.00 0.000 4 0.000 0.068 2861 3160 2009

6931 0.67 157.1 394.4 9.1 410 6936 0.17 2.25 0.00 0.000 6 0.135 0.052 2820 1734 2007

7253 0.84 190.3 375.1 6.0 426 7289 0.15 2.38 29.83 1.055 4 0.070 0.067 2888 3154 1874

7356 0.63 190.3 365.9 10.5 430 7361 0.28 2.28 0.00 0.000 6 0.132 0.051 2818 1731 1871

7674 1.00 196.0 345.8 6.8 445 7685 0.22 2.38 5.60 0.821 4 0.074 0.065 2909 3162 1851

7855 0.74 196.0 324.9 12.5 453 7860 0.28 2.28 0.00 0.000 6 0.134 0.051 2839 1726 1850

8183 0.90 218.2 302.0 6.3 469 8209 0.12 2.38 20.60 1.009 4 0.073 0.066 2899 3157 1760

8239 0.71 218.2 297.3 9.9 471 8246 0.28 2.28 0.00 0.000 6 0.130 0.051 2828 1731 1758

8556 1.14 218.2 276.4 7.5 487 8561 0.28 2.35 0.00 0.000 4 0.077 0.067 2935 3157 1757

8701 0.85 218.2 259.4 13.3 493 8706 0.30 2.25 0.00 0.000 6 0.136 0.052 2858 1726 1756

9023 1.04 263.0 237.2 5.6 509 9067 0.17 0.00 40.88 1.005 6 0.067 0.000 2937 1726 1577

9373 0.93 263.0 204.6 9.9 526 9378 0.20 2.33 0.00 0.000 4 0.130 0.065 2882 324 1571

9408 1.09 279.7 201.8 6.5 527 9428 0.12 2.35 15.30 0.940 6 0.075 0.054 2942 1756 1509

9749 0.99 279.7 165.2 11.1 544 9754 0.17 2.28 0.00 0.000 4 0.131 0.071 2890 3151 1506

9820 0.99 279.7 158.6 7.8 547 9824 0.00 2.25 0.00 0.000 6 0.000 0.054 2897 1740 1504

10155 1.12 296.0 139.1 6.5 563 10176 0.10 2.38 15.05 0.928 4 0.086 0.069 2957 326 1443

10200 1.05 296.0 134.7 10.2 565 10205 0.17 2.35 0.00 0.000 6 0.134 0.056 2907 1754 1443

10523 1.22 328.0 114.7 6.0 581 10558 0.15 2.33 30.10 0.940 4 0.071 0.071 2970 3157 1312

10601 1.03 328.0 106.3 12.2 584 10606 0.28 2.30 0.00 0.000 6 0.138 0.054 2902 1733 1309

10936 1.59 328.0 79.4 10.6 629 10943 0.35 2.33 0.00 0.000 4 0.084 0.070 3028 324 1304

10976 1.74 328.0 75.1 11.5 635 10983 0.10 2.33 0.00 0.000 6 0.094 0.058 3067 1742 1304

11324 1.26 328.0 13.9 15.9 696 11330 0.38 2.38 0.00 0.000 4 0.166 0.069 2965 327 1304

11375 end climb: FINISH_DEPTH_REACHED

state 11375 begin subsurface finish

11387 0.11 86.1 6.9 -9.1 705 11428 0.80 2.35 -32.85 0.000 4 0.119 0.085 2694 3164 2302

11429 end subsurface finish: CONTROL_FINISHED_OK

state 11429 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	607	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	3.31	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-13.6	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	6.87,-1.780,-1.767	XPDR_PINGS	108
FINISH1	6.9,1.025896,86	_24V_AH	21.5,93.658
FINISH2	5.2	_10V_AH	10.4,41.811
RAFOS_CLK	526	DATA_FILE_SIZE	22128,712
RAFOS	0,1231027454,0.083333,0.070556,105,64,57,50,49,48,555,206,170,128,149,218	CAP_FILE_SIZE	97290,0
RAFOS_FIX	6636.425781,-6052.078613,020109,161644,2,69,0.09	CFSIZE	260165632,214368256
IRIDIUM_FIX	6614.97,-5735.48,170398,050547	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
TT8_MAMPS	0.026845	SOUNDSPEED	1444.7
HUMID	1844	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	165	31.52	SBE_CT	498	24	257.18
Roll_motor	115	85	210.78	SBE_O2	0	0	0.00
VBD_pump_during_apogee	426	1148	10532.40	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	27	420	243.81
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	0	50	0.00
TT8	1309	19	271.23
LPSleep	8063	2	193.71
TT8_Active	502	19	104.12
TT8_Sampling	1344	39	558.07
TT8_CF8	265	45	126.75
TT8_Kalman	0	0	0.00
Analog_circuits	1264	12	157.77
GPS_charging	0	0	0.00
Compass	1338	8	111.39
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
13	end surface: CONTROL_FINISHED_OK
state	13	begin dive
18	-0.99	-146.0	0.0	0.0	0	47	0.00	0.00	-27.20	0.000	2	0.000	0.000	2692	3159	2865
51	-0.99	-146.0	3.1	-2.6	5	76	0.65	3.85	-14.95	0.000	4	0.075	0.067	2453	812	3248
332	-0.72	-146.0	37.8	-9.7	54	339	0.28	2.35	0.00	0.000	6	0.143	0.066	2521	2236	3252
679	-0.72	-146.0	70.8	-9.1	115	685	0.00	2.33	0.00	0.000	4	0.000	0.064	2524	811	3252
692	-0.72	-146.0	71.9	-8.3	117	699	0.00	2.35	0.00	0.000	6	0.000	0.064	2516	2241	3252
1052	-0.72	-146.0	104.5	-10.1	175	1056	0.00	2.20	0.00	0.000	4	0.000	0.078	2506	3602	3252
1136	-0.72	-146.0	112.9	-9.5	178	1142	0.00	2.17	0.00	0.000	6	0.000	0.053	2506	2217	3252
1453	-0.72	-146.0	144.6	-9.0	194	1456	0.00	2.25	0.00	0.000	4	0.000	0.066	2506	813	3252
1533	-0.66	-146.0	152.1	-9.7	197	1537	0.15	2.35	0.00	0.000	6	0.137	0.065	2536	2241	3252
1855	-0.75	-146.0	172.6	-5.9	213	1859	0.00	2.22	0.00	0.000	4	0.000	0.079	2528	3594	3252
1872	-0.86	-146.0	173.7	-5.9	213	1879	0.12	2.17	0.00	0.000	6	0.085	0.053	2473	2214	3252
2190	-0.75	-146.0	199.8	-8.4	229	2192	0.15	0.00	0.00	0.000	6	0.142	0.000	2515	2214	3252
2499	-0.82	-146.0	222.8	-7.3	244	2502	0.00	2.25	0.00	0.000	4	0.000	0.067	2515	819	3251
2510	-0.87	-146.0	224.0	-7.6	244	2515	0.00	2.35	0.00	0.000	6	0.000	0.065	2508	2239	3251
2828	-0.87	-146.0	246.5	-6.7	259	2832	0.00	2.33	0.00	0.000	4	0.000	0.066	2507	820	3251
2868	-0.87	-146.0	249.4	-7.4	260	2874	0.00	2.35	0.00	0.000	6	0.000	0.066	2498	2236	3251
3184	-0.87	-146.0	273.2	-7.1	276	3188	0.00	2.33	0.00	0.000	4	0.000	0.065	2497	817	3251
3208	-0.87	-146.0	275.0	-7.4	277	3212	0.00	2.35	0.00	0.000	6	0.000	0.065	2488	2237	3251
3535	-0.87	-146.0	298.1	-7.3	293	3536	0.00	0.00	0.00	0.000	6	0.000	0.000	2488	2237	3251
3845	-0.87	-146.0	319.8	-6.8	308	3848	0.00	2.22	0.00	0.000	4	0.000	0.080	2477	3593	3251
3858	-0.87	-146.0	320.7	-6.9	308	3862	0.00	2.17	0.00	0.000	6	0.000	0.052	2477	2213	3251
4180	-0.87	-146.0	346.2	-8.2	324	4184	0.00	2.25	0.00	0.000	4	0.000	0.065	2477	813	3251
4214	-0.81	-146.0	349.2	-8.5	325	4219	0.15	2.35	0.00	0.000	6	0.137	0.064	2508	2237	3251
4532	-0.93	-146.0	369.3	-5.9	340	4534	0.12	0.00	0.00	0.000	6	0.089	0.000	2457	2237	3251
4840	-0.86	-146.0	390.8	-6.5	355	4845	0.15	2.25	0.00	0.000	4	0.149	0.078	2489	3602	3251
4874	-0.95	-146.0	392.9	-6.3	356	4881	0.00	2.17	0.00	0.000	6	0.000	0.051	2489	2217	3251
5210	-1.01	-146.0	413.4	-6.4	368	5215	0.12	2.25	0.00	0.000	4	0.088	0.064	2437	811	3251
5244	-0.83	-146.0	416.1	-8.0	368	5251	0.25	2.35	0.00	0.000	6	0.137	0.063	2500	2236	3251
5577	-0.93	-146.0	434.7	-5.4	377	5579	0.10	0.00	0.00	0.000	6	0.094	0.000	2459	2236	3252
5897	end dive: TARGET_DEPTH_EXCEEDED
state	5898	begin apogee
5907	-0.31	0.0	457.3	7.2	385	6037	0.50	0.00	127.05	1.148	6	0.129	0.000	2613	1737	2650
6038	end apogee: CONTROL_FINISHED_OK
state	6038	begin climb
6042	0.99	146.0	460.4	0.0	388	6179	0.88	0.00	132.50	1.067	6	0.097	0.000	2893	1736	2054
6491	0.83	146.0	427.1	8.2	399	6496	0.15	2.40	0.00	0.000	4	0.133	0.067	2861	327	2048
6537	0.85	157.1	423.8	6.7	400	6551	0.00	2.38	9.75	0.945	6	0.000	0.055	2861	1748	2009
6896	0.80	157.1	397.5	7.8	409	6900	0.00	2.28	0.00	0.000	4	0.000	0.068	2861	3160	2009
6931	0.67	157.1	394.4	9.1	410	6936	0.17	2.25	0.00	0.000	6	0.135	0.052	2820	1734	2007
7253	0.84	190.3	375.1	6.0	426	7289	0.15	2.38	29.83	1.055	4	0.070	0.067	2888	3154	1874
7356	0.63	190.3	365.9	10.5	430	7361	0.28	2.28	0.00	0.000	6	0.132	0.051	2818	1731	1871
7674	1.00	196.0	345.8	6.8	445	7685	0.22	2.38	5.60	0.821	4	0.074	0.065	2909	3162	1851
7855	0.74	196.0	324.9	12.5	453	7860	0.28	2.28	0.00	0.000	6	0.134	0.051	2839	1726	1850
8183	0.90	218.2	302.0	6.3	469	8209	0.12	2.38	20.60	1.009	4	0.073	0.066	2899	3157	1760
8239	0.71	218.2	297.3	9.9	471	8246	0.28	2.28	0.00	0.000	6	0.130	0.051	2828	1731	1758
8556	1.14	218.2	276.4	7.5	487	8561	0.28	2.35	0.00	0.000	4	0.077	0.067	2935	3157	1757
8701	0.85	218.2	259.4	13.3	493	8706	0.30	2.25	0.00	0.000	6	0.136	0.052	2858	1726	1756
9023	1.04	263.0	237.2	5.6	509	9067	0.17	0.00	40.88	1.005	6	0.067	0.000	2937	1726	1577
9373	0.93	263.0	204.6	9.9	526	9378	0.20	2.33	0.00	0.000	4	0.130	0.065	2882	324	1571
9408	1.09	279.7	201.8	6.5	527	9428	0.12	2.35	15.30	0.940	6	0.075	0.054	2942	1756	1509
9749	0.99	279.7	165.2	11.1	544	9754	0.17	2.28	0.00	0.000	4	0.131	0.071	2890	3151	1506
9820	0.99	279.7	158.6	7.8	547	9824	0.00	2.25	0.00	0.000	6	0.000	0.054	2897	1740	1504
10155	1.12	296.0	139.1	6.5	563	10176	0.10	2.38	15.05	0.928	4	0.086	0.069	2957	326	1443
10200	1.05	296.0	134.7	10.2	565	10205	0.17	2.35	0.00	0.000	6	0.134	0.056	2907	1754	1443
10523	1.22	328.0	114.7	6.0	581	10558	0.15	2.33	30.10	0.940	4	0.071	0.071	2970	3157	1312
10601	1.03	328.0	106.3	12.2	584	10606	0.28	2.30	0.00	0.000	6	0.138	0.054	2902	1733	1309
10936	1.59	328.0	79.4	10.6	629	10943	0.35	2.33	0.00	0.000	4	0.084	0.070	3028	324	1304
10976	1.74	328.0	75.1	11.5	635	10983	0.10	2.33	0.00	0.000	6	0.094	0.058	3067	1742	1304
11324	1.26	328.0	13.9	15.9	696	11330	0.38	2.38	0.00	0.000	4	0.166	0.069	2965	327	1304
11375	end climb: FINISH_DEPTH_REACHED
state	11375	begin subsurface finish
11387	0.11	86.1	6.9	-9.1	705	11428	0.80	2.35	-32.85	0.000	4	0.119	0.085	2694	3164	2302
11429	end subsurface finish: CONTROL_FINISHED_OK
state	11429	begin surface