Glider dive log

DavisStrait Sep08 * SG108 * Dive index * Mission links * Dive 609 * 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 609 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 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 27 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 609 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 2.42 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -1.7 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 6.61,-1.803,-1.773 XPDR_PINGS 150

FINISH1 6.6,1.025987,82 _24V_AH 21.5,93.943

FINISH2 9.5 _10V_AH 10.4,41.907

RAFOS_CLK 557 DATA_FILE_SIZE 25292,787

RAFOS 0,1231056247,8.083333,8.068611,99,65,59,55,55,53,588,203,156,169,190,214 CAP_FILE_SIZE 101532,0

RAFOS_FIX 6636.425781,-6052.078613,020109,161644,2,69,0.09 CFSIZE 260165632,214257664

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 0.029146 SOUNDSPEED 1444.1

HUMID 1855 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 8 159 30.10 SBE_CT 551 24 284.39

Roll_motor 112 86 209.40 SBE_O2 0 0 0.00

VBD_pump_during_apogee 434 1148 10736.06 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 37 420 338.62

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 0 50 0.00

TT8 1421 19 294.49

LPSleep 8386 2 201.48

TT8_Active 503 19 104.26

TT8_Sampling 1439 39 597.45

TT8_CF8 269 45 128.83

TT8_Kalman 0 0 0.00

Analog_circuits 1313 12 163.91

GPS_charging 0 0 0.00

Compass 1431 8 119.10

RAFOS 1080 1 16.85

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

11 end surface: CONTROL_FINISHED_OK

state 12 begin dive

16 -0.99 -146.0 0.0 0.0 0 52 0.00 0.00 -33.20 0.000 2 0.000 0.000 2702 1744 3010

56 -0.99 -146.0 3.3 -2.4 6 70 0.65 1.62 -8.93 0.000 4 0.059 0.087 2453 816 3248

180 -0.71 -146.0 18.3 -13.1 27 187 0.28 2.35 0.00 0.000 6 0.142 0.064 2523 2244 3253

526 -0.71 -146.0 56.4 -11.6 88 533 0.00 2.35 0.00 0.000 4 0.000 0.065 2523 807 3254

546 -0.71 -146.0 58.7 -11.8 91 553 0.00 2.35 0.00 0.000 6 0.000 0.061 2515 2247 3254

892 -0.71 -146.0 92.8 -10.5 152 898 0.00 2.35 0.00 0.000 4 0.000 0.064 2515 809 3254

929 -0.66 -146.0 96.3 -10.1 158 936 0.12 2.35 0.00 0.000 6 0.141 0.063 2538 2245 3254

1262 -0.72 -146.0 120.1 -8.9 179 1266 0.00 2.33 0.00 0.000 4 0.000 0.064 2538 819 3254

1377 -0.72 -146.0 127.3 -4.6 184 1381 0.00 2.33 0.00 0.000 6 0.000 0.063 2530 2240 3253

1710 -0.80 -146.0 148.1 -8.3 200 1712 0.10 0.00 0.00 0.000 6 0.090 0.000 2485 2240 3253

2021 -0.73 -146.0 174.7 -9.1 215 2026 0.15 2.22 0.00 0.000 4 0.149 0.076 2517 3604 3253

2046 -0.73 -146.0 176.9 -8.4 216 2050 0.00 2.20 0.00 0.000 6 0.000 0.053 2517 2209 3253

2379 -0.79 -146.0 205.7 -8.2 232 2380 0.00 0.00 0.00 0.000 6 0.000 0.000 2517 2209 3253

2689 -0.87 -146.0 223.7 -5.6 247 2693 0.10 2.22 0.00 0.000 4 0.094 0.066 2474 821 3252

2758 -0.75 -146.0 229.6 -9.5 250 2763 0.20 2.33 0.00 0.000 6 0.140 0.064 2519 2236 3252

3086 -0.85 -146.0 252.5 -6.7 266 3091 0.10 2.22 0.00 0.000 4 0.094 0.076 2468 3602 3252

3101 -0.92 -146.0 253.3 -6.8 266 3105 0.00 2.17 0.00 0.000 6 0.000 0.053 2467 2223 3252

3424 -0.84 -146.0 281.4 -8.5 282 3428 0.12 2.28 0.00 0.000 4 0.155 0.074 2494 3595 3252

3486 -0.90 -146.0 285.8 -6.7 284 3493 0.00 2.17 0.00 0.000 6 0.000 0.053 2494 2214 3252

3805 -0.90 -146.0 304.4 -5.8 300 3809 0.00 2.25 0.00 0.000 4 0.000 0.065 2494 816 3252

3823 -0.90 -146.0 305.8 -6.1 300 3829 0.00 2.35 0.00 0.000 6 0.000 0.062 2484 2240 3252

4140 -0.90 -146.0 326.9 -6.9 316 4141 0.00 0.00 0.00 0.000 6 0.000 0.000 2485 2240 3252

4449 -0.90 -146.0 350.4 -7.6 331 4453 0.00 2.22 0.00 0.000 4 0.000 0.076 2474 3602 3252

4466 -0.90 -146.0 351.8 -7.6 331 4473 0.00 2.17 0.00 0.000 6 0.000 0.052 2473 2225 3252

4783 -0.90 -146.0 373.3 -6.5 347 4787 0.00 2.25 0.00 0.000 4 0.000 0.065 2474 815 3252

4795 -0.90 -146.0 374.1 -6.7 347 4800 0.10 2.33 0.00 0.000 6 0.142 0.061 2489 2237 3251

5118 -0.95 -146.0 395.3 -6.9 363 5119 0.00 0.00 0.00 0.000 6 0.000 0.000 2489 2236 3252

5444 -1.02 -146.0 417.4 -6.4 373 5448 0.12 2.22 0.00 0.000 4 0.085 0.074 2428 3606 3252

5461 -1.02 -146.0 418.7 -6.3 373 5465 0.12 2.17 0.00 0.000 6 0.158 0.051 2460 2222 3252

5775 -1.02 -146.0 440.7 -7.2 381 5776 0.00 0.00 0.00 0.000 6 0.000 0.000 2460 2221 3252

5973 end dive: TARGET_DEPTH_EXCEEDED

state 5973 begin apogee

5982 -0.31 0.0 455.5 7.3 386 6112 0.50 0.00 127.30 1.148 6 0.128 0.000 2617 1743 2650

6113 end apogee: CONTROL_FINISHED_OK

state 6113 begin climb

6117 0.99 146.0 459.3 0.0 389 6253 0.88 0.00 132.12 1.068 6 0.096 0.000 2897 1743 2054

6567 0.83 146.0 423.9 8.6 400 6569 0.15 0.00 0.00 0.000 6 0.131 0.000 2856 1743 2048

6891 0.83 146.0 401.1 7.2 408 6895 0.00 2.33 0.00 0.000 4 0.000 0.065 2856 3162 2047

6927 0.70 146.0 398.4 8.0 408 6931 0.12 2.28 0.00 0.000 6 0.140 0.053 2830 1733 2046

7249 0.82 170.9 379.1 6.2 424 7275 0.10 2.35 20.88 1.044 4 0.083 0.064 2877 3154 1953

7316 0.62 170.9 373.4 10.0 427 7321 0.25 2.28 0.00 0.000 6 0.132 0.051 2814 1729 1951

7645 0.99 188.3 354.0 6.5 443 7668 0.22 2.42 16.33 1.016 4 0.072 0.065 2907 3161 1882

7820 0.72 188.3 335.9 11.0 450 7827 0.30 2.28 0.00 0.000 6 0.135 0.051 2829 1729 1880

8138 0.94 254.1 319.4 4.9 466 8199 0.17 0.00 58.30 1.039 6 0.066 0.000 2909 1729 1613

8511 0.87 254.1 280.0 10.8 484 8515 0.15 2.30 0.00 0.000 4 0.130 0.066 2874 324 1605

8545 0.99 254.1 276.5 8.6 485 8549 0.00 2.33 0.00 0.000 6 0.000 0.052 2874 1755 1605

8868 1.08 254.1 248.1 8.3 501 8872 0.15 2.25 0.00 0.000 4 0.071 0.066 2944 3160 1603

8942 0.82 254.1 239.3 12.6 504 8947 0.35 2.25 0.00 0.000 6 0.137 0.052 2850 1737 1601

9264 1.33 257.2 217.7 6.9 520 9269 0.35 2.30 0.00 0.000 4 0.086 0.066 2976 327 1600

9309 1.26 257.2 213.8 9.2 522 9314 0.10 2.30 0.00 0.000 6 0.160 0.054 2953 1747 1600

9637 1.12 257.2 180.6 9.3 538 9642 0.12 2.30 0.00 0.000 4 0.144 0.069 2916 3162 1600

9694 0.99 257.2 175.1 9.4 540 9699 0.12 2.28 0.00 0.000 6 0.143 0.054 2889 1731 1599

10017 1.11 257.2 147.8 7.8 556 10021 0.12 2.30 0.00 0.000 4 0.076 0.067 2957 323 1599

10051 1.03 257.2 144.6 9.5 557 10056 0.20 2.33 0.00 0.000 6 0.132 0.055 2899 1748 1599

10368 1.15 272.7 126.9 6.5 572 10391 0.12 2.30 15.40 0.940 4 0.077 0.069 2955 3157 1538

10440 0.92 272.7 121.3 8.1 575 10445 0.30 2.28 0.00 0.000 6 0.134 0.055 2877 1735 1537

10768 1.20 344.1 105.6 4.7 591 10839 0.20 2.42 64.57 0.942 4 0.067 0.070 2978 332 1247

10955 1.13 344.1 86.6 10.3 613 10962 0.20 2.33 0.00 0.000 6 0.130 0.054 2921 1745 1242

11302 1.25 344.1 54.0 9.8 674 11309 0.12 2.30 0.00 0.000 4 0.078 0.070 2977 3162 1237

11345 1.15 344.1 48.7 12.6 681 11352 0.20 2.28 0.00 0.000 6 0.136 0.056 2930 1740 1235

11691 1.20 344.1 28.2 8.5 742 11697 0.00 2.33 0.00 0.000 4 0.000 0.071 2938 324 1234

11762 1.38 344.1 22.6 7.6 754 11769 0.15 2.33 0.00 0.000 6 0.075 0.058 2998 1749 1233

11913 end climb: FINISH_DEPTH_REACHED

state 11913 begin subsurface finish

11922 0.10 81.7 6.6 -9.0 780 11963 0.93 2.42 -31.20 0.000 4 0.125 0.083 2702 334 2322

11964 end subsurface finish: CONTROL_FINISHED_OK

state 11964 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	609	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	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	2.42	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-1.7	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	6.61,-1.803,-1.773	XPDR_PINGS	150
FINISH1	6.6,1.025987,82	_24V_AH	21.5,93.943
FINISH2	9.5	_10V_AH	10.4,41.907
RAFOS_CLK	557	DATA_FILE_SIZE	25292,787
RAFOS	0,1231056247,8.083333,8.068611,99,65,59,55,55,53,588,203,156,169,190,214	CAP_FILE_SIZE	101532,0
RAFOS_FIX	6636.425781,-6052.078613,020109,161644,2,69,0.09	CFSIZE	260165632,214257664
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	0.029146	SOUNDSPEED	1444.1
HUMID	1855	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	159	30.10	SBE_CT	551	24	284.39
Roll_motor	112	86	209.40	SBE_O2	0	0	0.00
VBD_pump_during_apogee	434	1148	10736.06	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	37	420	338.62
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	0	50	0.00
TT8	1421	19	294.49
LPSleep	8386	2	201.48
TT8_Active	503	19	104.26
TT8_Sampling	1439	39	597.45
TT8_CF8	269	45	128.83
TT8_Kalman	0	0	0.00
Analog_circuits	1313	12	163.91
GPS_charging	0	0	0.00
Compass	1431	8	119.10
RAFOS	1080	1	16.85
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
11	end surface: CONTROL_FINISHED_OK
state	12	begin dive
16	-0.99	-146.0	0.0	0.0	0	52	0.00	0.00	-33.20	0.000	2	0.000	0.000	2702	1744	3010
56	-0.99	-146.0	3.3	-2.4	6	70	0.65	1.62	-8.93	0.000	4	0.059	0.087	2453	816	3248
180	-0.71	-146.0	18.3	-13.1	27	187	0.28	2.35	0.00	0.000	6	0.142	0.064	2523	2244	3253
526	-0.71	-146.0	56.4	-11.6	88	533	0.00	2.35	0.00	0.000	4	0.000	0.065	2523	807	3254
546	-0.71	-146.0	58.7	-11.8	91	553	0.00	2.35	0.00	0.000	6	0.000	0.061	2515	2247	3254
892	-0.71	-146.0	92.8	-10.5	152	898	0.00	2.35	0.00	0.000	4	0.000	0.064	2515	809	3254
929	-0.66	-146.0	96.3	-10.1	158	936	0.12	2.35	0.00	0.000	6	0.141	0.063	2538	2245	3254
1262	-0.72	-146.0	120.1	-8.9	179	1266	0.00	2.33	0.00	0.000	4	0.000	0.064	2538	819	3254
1377	-0.72	-146.0	127.3	-4.6	184	1381	0.00	2.33	0.00	0.000	6	0.000	0.063	2530	2240	3253
1710	-0.80	-146.0	148.1	-8.3	200	1712	0.10	0.00	0.00	0.000	6	0.090	0.000	2485	2240	3253
2021	-0.73	-146.0	174.7	-9.1	215	2026	0.15	2.22	0.00	0.000	4	0.149	0.076	2517	3604	3253
2046	-0.73	-146.0	176.9	-8.4	216	2050	0.00	2.20	0.00	0.000	6	0.000	0.053	2517	2209	3253
2379	-0.79	-146.0	205.7	-8.2	232	2380	0.00	0.00	0.00	0.000	6	0.000	0.000	2517	2209	3253
2689	-0.87	-146.0	223.7	-5.6	247	2693	0.10	2.22	0.00	0.000	4	0.094	0.066	2474	821	3252
2758	-0.75	-146.0	229.6	-9.5	250	2763	0.20	2.33	0.00	0.000	6	0.140	0.064	2519	2236	3252
3086	-0.85	-146.0	252.5	-6.7	266	3091	0.10	2.22	0.00	0.000	4	0.094	0.076	2468	3602	3252
3101	-0.92	-146.0	253.3	-6.8	266	3105	0.00	2.17	0.00	0.000	6	0.000	0.053	2467	2223	3252
3424	-0.84	-146.0	281.4	-8.5	282	3428	0.12	2.28	0.00	0.000	4	0.155	0.074	2494	3595	3252
3486	-0.90	-146.0	285.8	-6.7	284	3493	0.00	2.17	0.00	0.000	6	0.000	0.053	2494	2214	3252
3805	-0.90	-146.0	304.4	-5.8	300	3809	0.00	2.25	0.00	0.000	4	0.000	0.065	2494	816	3252
3823	-0.90	-146.0	305.8	-6.1	300	3829	0.00	2.35	0.00	0.000	6	0.000	0.062	2484	2240	3252
4140	-0.90	-146.0	326.9	-6.9	316	4141	0.00	0.00	0.00	0.000	6	0.000	0.000	2485	2240	3252
4449	-0.90	-146.0	350.4	-7.6	331	4453	0.00	2.22	0.00	0.000	4	0.000	0.076	2474	3602	3252
4466	-0.90	-146.0	351.8	-7.6	331	4473	0.00	2.17	0.00	0.000	6	0.000	0.052	2473	2225	3252
4783	-0.90	-146.0	373.3	-6.5	347	4787	0.00	2.25	0.00	0.000	4	0.000	0.065	2474	815	3252
4795	-0.90	-146.0	374.1	-6.7	347	4800	0.10	2.33	0.00	0.000	6	0.142	0.061	2489	2237	3251
5118	-0.95	-146.0	395.3	-6.9	363	5119	0.00	0.00	0.00	0.000	6	0.000	0.000	2489	2236	3252
5444	-1.02	-146.0	417.4	-6.4	373	5448	0.12	2.22	0.00	0.000	4	0.085	0.074	2428	3606	3252
5461	-1.02	-146.0	418.7	-6.3	373	5465	0.12	2.17	0.00	0.000	6	0.158	0.051	2460	2222	3252
5775	-1.02	-146.0	440.7	-7.2	381	5776	0.00	0.00	0.00	0.000	6	0.000	0.000	2460	2221	3252
5973	end dive: TARGET_DEPTH_EXCEEDED
state	5973	begin apogee
5982	-0.31	0.0	455.5	7.3	386	6112	0.50	0.00	127.30	1.148	6	0.128	0.000	2617	1743	2650
6113	end apogee: CONTROL_FINISHED_OK
state	6113	begin climb
6117	0.99	146.0	459.3	0.0	389	6253	0.88	0.00	132.12	1.068	6	0.096	0.000	2897	1743	2054
6567	0.83	146.0	423.9	8.6	400	6569	0.15	0.00	0.00	0.000	6	0.131	0.000	2856	1743	2048
6891	0.83	146.0	401.1	7.2	408	6895	0.00	2.33	0.00	0.000	4	0.000	0.065	2856	3162	2047
6927	0.70	146.0	398.4	8.0	408	6931	0.12	2.28	0.00	0.000	6	0.140	0.053	2830	1733	2046
7249	0.82	170.9	379.1	6.2	424	7275	0.10	2.35	20.88	1.044	4	0.083	0.064	2877	3154	1953
7316	0.62	170.9	373.4	10.0	427	7321	0.25	2.28	0.00	0.000	6	0.132	0.051	2814	1729	1951
7645	0.99	188.3	354.0	6.5	443	7668	0.22	2.42	16.33	1.016	4	0.072	0.065	2907	3161	1882
7820	0.72	188.3	335.9	11.0	450	7827	0.30	2.28	0.00	0.000	6	0.135	0.051	2829	1729	1880
8138	0.94	254.1	319.4	4.9	466	8199	0.17	0.00	58.30	1.039	6	0.066	0.000	2909	1729	1613
8511	0.87	254.1	280.0	10.8	484	8515	0.15	2.30	0.00	0.000	4	0.130	0.066	2874	324	1605
8545	0.99	254.1	276.5	8.6	485	8549	0.00	2.33	0.00	0.000	6	0.000	0.052	2874	1755	1605
8868	1.08	254.1	248.1	8.3	501	8872	0.15	2.25	0.00	0.000	4	0.071	0.066	2944	3160	1603
8942	0.82	254.1	239.3	12.6	504	8947	0.35	2.25	0.00	0.000	6	0.137	0.052	2850	1737	1601
9264	1.33	257.2	217.7	6.9	520	9269	0.35	2.30	0.00	0.000	4	0.086	0.066	2976	327	1600
9309	1.26	257.2	213.8	9.2	522	9314	0.10	2.30	0.00	0.000	6	0.160	0.054	2953	1747	1600
9637	1.12	257.2	180.6	9.3	538	9642	0.12	2.30	0.00	0.000	4	0.144	0.069	2916	3162	1600
9694	0.99	257.2	175.1	9.4	540	9699	0.12	2.28	0.00	0.000	6	0.143	0.054	2889	1731	1599
10017	1.11	257.2	147.8	7.8	556	10021	0.12	2.30	0.00	0.000	4	0.076	0.067	2957	323	1599
10051	1.03	257.2	144.6	9.5	557	10056	0.20	2.33	0.00	0.000	6	0.132	0.055	2899	1748	1599
10368	1.15	272.7	126.9	6.5	572	10391	0.12	2.30	15.40	0.940	4	0.077	0.069	2955	3157	1538
10440	0.92	272.7	121.3	8.1	575	10445	0.30	2.28	0.00	0.000	6	0.134	0.055	2877	1735	1537
10768	1.20	344.1	105.6	4.7	591	10839	0.20	2.42	64.57	0.942	4	0.067	0.070	2978	332	1247
10955	1.13	344.1	86.6	10.3	613	10962	0.20	2.33	0.00	0.000	6	0.130	0.054	2921	1745	1242
11302	1.25	344.1	54.0	9.8	674	11309	0.12	2.30	0.00	0.000	4	0.078	0.070	2977	3162	1237
11345	1.15	344.1	48.7	12.6	681	11352	0.20	2.28	0.00	0.000	6	0.136	0.056	2930	1740	1235
11691	1.20	344.1	28.2	8.5	742	11697	0.00	2.33	0.00	0.000	4	0.000	0.071	2938	324	1234
11762	1.38	344.1	22.6	7.6	754	11769	0.15	2.33	0.00	0.000	6	0.075	0.058	2998	1749	1233
11913	end climb: FINISH_DEPTH_REACHED
state	11913	begin subsurface finish
11922	0.10	81.7	6.6	-9.0	780	11963	0.93	2.42	-31.20	0.000	4	0.125	0.083	2702	334	2322
11964	end subsurface finish: CONTROL_FINISHED_OK
state	11964	begin surface