Glider dive log

DavisStrait Sep08 * SG108 * Dive index * Mission links * Dive 611 * 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 611 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 24 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 500 CALL_NDIVES 1 R_STBD_OVSHOOT 22 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 24 VBD_BLEED_AD_RATE 8

C_VBD 2650 MAX_BUOY 150 R_STBD_OVSHOOT 22 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 611 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 5.06 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo 0.1 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 6.79,-1.761,-1.780 XPDR_PINGS 79

FINISH1 6.8,1.026075,77 _24V_AH 21.5,94.221

FINISH2 4.7 _10V_AH 10.4,41.999

RAFOS_CLK 566 DATA_FILE_SIZE 25276,799

RAFOS 0,1231070643,12.083333,12.067500,131,66,56,55,50,48,620,188,150,201,173,215 CAP_FILE_SIZE 92187,0

RAFOS_FIX 6633.919922,-6002.774414,040109,121216,2,99,0.33 CFSIZE 260165632,214163456

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 1444.6

HUMID 1843 GPS 040109,122016,6633.920,-6002.774,0,2099.0,0,-38.0

INTERNAL_PRESSURE 9.90272 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 6 150 19.80 SBE_CT 559 24 288.91

Roll_motor 87 82 154.35 SBE_O2 0 0 0.00

VBD_pump_during_apogee 427 1143 10504.94 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 19 420 178.34

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 0 50 0.00

TT8 1410 19 292.30

LPSleep 8658 2 208.02

TT8_Active 486 19 100.73

TT8_Sampling 1373 39 570.44

TT8_CF8 254 45 121.74

TT8_Kalman 0 0 0.00

Analog_circuits 1246 12 155.57

GPS_charging 0 0 0.00

Compass 1371 8 114.07

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 24 0.00 0.00 -5.38 0.000 2 0.000 0.000 2699 3161 2496

28 -0.99 -146.0 6.0 -0.0 1 64 0.68 3.88 -24.25 0.000 4 0.079 0.064 2458 813 3250

320 -0.69 -146.0 43.1 -15.1 52 327 0.28 2.35 0.00 0.000 6 0.137 0.064 2529 2238 3254

667 -0.74 -146.0 74.5 -13.8 113 672 0.00 0.00 0.00 0.000 6 0.000 0.000 2530 2238 3255

1006 -0.74 -146.0 105.7 -9.4 165 1010 0.00 2.22 0.00 0.000 4 0.000 0.077 2521 3602 3254

1040 -0.74 -146.0 108.7 -8.9 166 1044 0.00 2.20 0.00 0.000 6 0.000 0.052 2521 2205 3254

1362 -0.74 -146.0 135.8 -7.6 182 1364 0.00 0.00 0.00 0.000 6 0.000 0.000 2521 2205 3254

1672 -0.79 -146.0 161.7 -7.7 197 1676 0.00 2.30 0.00 0.000 4 0.000 0.076 2511 3596 3254

1701 -0.84 -146.0 163.6 -6.9 198 1705 0.00 2.17 0.00 0.000 6 0.000 0.052 2511 2211 3254

2029 -0.84 -146.0 188.0 -9.1 214 2033 0.00 2.25 0.00 0.000 4 0.000 0.065 2511 810 3254

2040 -0.84 -146.0 189.2 -9.4 214 2045 0.00 2.33 0.00 0.000 6 0.000 0.062 2501 2234 3254

2363 -0.84 -146.0 216.9 -7.9 230 2367 0.00 2.22 0.00 0.000 4 0.000 0.077 2490 3599 3253

2387 -0.84 -146.0 218.7 -7.7 231 2391 0.00 2.17 0.00 0.000 6 0.000 0.052 2491 2215 3254

2720 -0.84 -146.0 243.2 -7.0 247 2724 0.00 2.30 0.00 0.000 4 0.000 0.075 2481 3598 3253

2789 -0.84 -146.0 248.2 -7.1 250 2793 0.00 2.15 0.00 0.000 6 0.000 0.052 2481 2224 3253

3122 -0.84 -146.0 267.9 -5.9 266 3123 0.00 0.00 0.00 0.000 6 0.000 0.000 2481 2223 3254

3431 -0.84 -146.0 289.7 -7.3 281 3432 0.00 0.00 0.00 0.000 6 0.000 0.000 2480 2223 3253

3741 -0.84 -146.0 312.3 -7.5 296 3742 0.00 0.00 0.00 0.000 6 0.000 0.000 2481 2223 3253

4050 -0.84 -146.0 336.8 -7.5 311 4051 0.00 0.00 0.00 0.000 6 0.000 0.000 2481 2223 3253

4359 -0.84 -146.0 355.6 -5.3 326 4363 0.00 2.28 0.00 0.000 4 0.000 0.067 2481 813 3253

4372 -0.84 -146.0 356.3 -5.3 326 4376 0.12 2.33 0.00 0.000 6 0.138 0.062 2504 2232 3253

4689 -0.94 -146.0 367.9 -3.7 341 4691 0.12 0.00 0.00 0.000 6 0.088 0.000 2453 2232 3252

4998 -0.86 -146.0 386.0 -6.4 356 5003 0.15 2.35 0.00 0.000 4 0.150 0.063 2498 813 3253

5022 -0.86 -146.0 387.4 -5.7 357 5026 0.00 2.33 0.00 0.000 6 0.000 0.061 2490 2232 3253

5369 -0.92 -146.0 407.7 -6.0 371 5370 0.00 0.00 0.00 0.000 6 0.000 0.000 2490 2232 3253

5694 -0.99 -146.0 426.8 -5.8 379 5695 0.10 0.00 0.00 0.000 6 0.093 0.000 2444 2232 3253

6019 -0.88 -146.0 450.0 -7.3 387 6024 0.17 2.33 0.00 0.000 4 0.147 0.061 2497 813 3253

6030 -0.81 -146.0 450.8 -7.2 387 6035 0.00 2.33 0.00 0.000 6 0.000 0.059 2489 2244 3253

6139 end dive: TARGET_DEPTH_EXCEEDED

state 6139 begin apogee

6148 -0.31 0.0 457.1 5.7 390 6279 0.40 0.00 127.50 1.144 6 0.125 0.000 2614 1742 2650

6279 end apogee: CONTROL_FINISHED_OK

state 6279 begin climb

6284 0.99 146.0 459.4 0.0 393 6420 0.88 0.00 132.43 1.063 6 0.098 0.000 2893 1742 2054

6735 0.84 146.0 419.4 9.9 404 6737 0.12 0.00 0.00 0.000 6 0.132 0.000 2860 1742 2048

7037 0.84 146.0 395.8 7.4 412 7038 0.00 0.00 0.00 0.000 6 0.000 0.000 2860 1742 2047

7347 0.84 146.0 374.3 7.1 427 7348 0.00 0.00 0.00 0.000 6 0.000 0.000 2860 1742 2046

7656 0.84 146.0 349.4 8.7 442 7659 0.00 2.38 0.00 0.000 4 0.000 0.065 2860 3156 2046

7702 0.71 146.0 344.8 10.6 444 7707 0.15 2.30 0.00 0.000 6 0.135 0.052 2825 1726 2046

8032 0.82 146.0 317.3 8.6 460 8034 0.12 0.00 0.00 0.000 6 0.074 0.000 2883 1726 2046

8339 0.74 146.0 288.0 8.5 475 8341 0.15 0.00 0.00 0.000 6 0.127 0.000 2839 1726 2046

8651 0.94 227.6 270.4 4.4 490 8728 0.15 2.50 69.35 1.015 4 0.073 0.064 2905 3149 1722

8794 0.75 227.6 260.9 8.0 496 8799 0.25 2.33 0.00 0.000 6 0.127 0.051 2842 1725 1716

9112 1.20 265.5 246.8 5.8 511 9155 0.28 2.38 33.10 0.981 4 0.077 0.067 2957 332 1567

9238 1.05 265.5 234.9 11.7 516 9243 0.20 2.33 0.00 0.000 6 0.136 0.053 2901 1742 1564

9557 1.05 265.5 203.0 10.4 531 9561 0.00 2.28 0.00 0.000 4 0.000 0.067 2900 3154 1560

9654 0.96 265.5 192.6 9.6 535 9658 0.00 2.25 0.00 0.000 6 0.000 0.053 2908 1734 1558

9983 0.98 285.3 168.2 6.4 551 10003 0.00 0.00 17.60 0.947 6 0.000 0.000 2908 1734 1486

10311 0.98 285.3 146.9 8.4 567 10315 0.00 2.35 0.00 0.000 4 0.000 0.069 2908 3159 1481

10341 0.98 285.3 143.9 10.0 568 10346 0.10 2.28 0.00 0.000 6 0.143 0.054 2891 1730 1480

10670 1.17 323.9 123.8 5.8 584 10713 0.15 2.35 34.70 0.950 4 0.070 0.070 2969 331 1330

10754 1.09 323.9 115.6 11.2 587 10761 0.20 2.35 0.00 0.000 6 0.131 0.055 2912 1751 1328

11083 1.22 337.6 89.8 6.6 621 11102 0.12 2.30 12.57 0.882 4 0.077 0.070 2966 3160 1273

11127 1.14 337.6 85.7 9.2 628 11134 0.20 2.30 0.00 0.000 6 0.137 0.055 2920 1730 1272

11475 1.22 337.6 60.5 7.2 689 11482 0.10 2.30 0.00 0.000 4 0.082 0.070 2976 333 1269

11523 1.22 337.6 55.9 9.5 697 11530 0.12 2.33 0.00 0.000 6 0.139 0.056 2943 1750 1269

11870 1.22 337.6 26.6 9.8 758 11876 0.00 2.28 0.00 0.000 4 0.000 0.071 2943 3152 1267

11917 1.17 337.6 18.7 16.9 766 11924 0.00 2.25 0.00 0.000 6 0.000 0.054 2951 1733 1266

12064 end climb: FINISH_DEPTH_REACHED

state 12068 begin subsurface finish

12077 0.10 77.3 6.8 -10.5 792 12119 0.80 2.40 -36.45 0.000 4 0.140 0.082 2702 322 2338

12120 end subsurface finish: CONTROL_FINISHED_OK

state 12120 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	611	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	24	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	500	CALL_NDIVES	1	R_STBD_OVSHOOT	22	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	5.06	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	0.1	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	6.79,-1.761,-1.780	XPDR_PINGS	79
FINISH1	6.8,1.026075,77	_24V_AH	21.5,94.221
FINISH2	4.7	_10V_AH	10.4,41.999
RAFOS_CLK	566	DATA_FILE_SIZE	25276,799
RAFOS	0,1231070643,12.083333,12.067500,131,66,56,55,50,48,620,188,150,201,173,215	CAP_FILE_SIZE	92187,0
RAFOS_FIX	6633.919922,-6002.774414,040109,121216,2,99,0.33	CFSIZE	260165632,214163456
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	1444.6
HUMID	1843	GPS	040109,122016,6633.920,-6002.774,0,2099.0,0,-38.0
INTERNAL_PRESSURE	9.90272	ESCAPE_REASON	NO_RECENT_FIX
TCM_TEMP	14.90	ESCAPE_STARTED_DIVE	581

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	6	150	19.80	SBE_CT	559	24	288.91
Roll_motor	87	82	154.35	SBE_O2	0	0	0.00
VBD_pump_during_apogee	427	1143	10504.94	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	19	420	178.34
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	0	50	0.00
TT8	1410	19	292.30
LPSleep	8658	2	208.02
TT8_Active	486	19	100.73
TT8_Sampling	1373	39	570.44
TT8_CF8	254	45	121.74
TT8_Kalman	0	0	0.00
Analog_circuits	1246	12	155.57
GPS_charging	0	0	0.00
Compass	1371	8	114.07
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	24	0.00	0.00	-5.38	0.000	2	0.000	0.000	2699	3161	2496
28	-0.99	-146.0	6.0	-0.0	1	64	0.68	3.88	-24.25	0.000	4	0.079	0.064	2458	813	3250
320	-0.69	-146.0	43.1	-15.1	52	327	0.28	2.35	0.00	0.000	6	0.137	0.064	2529	2238	3254
667	-0.74	-146.0	74.5	-13.8	113	672	0.00	0.00	0.00	0.000	6	0.000	0.000	2530	2238	3255
1006	-0.74	-146.0	105.7	-9.4	165	1010	0.00	2.22	0.00	0.000	4	0.000	0.077	2521	3602	3254
1040	-0.74	-146.0	108.7	-8.9	166	1044	0.00	2.20	0.00	0.000	6	0.000	0.052	2521	2205	3254
1362	-0.74	-146.0	135.8	-7.6	182	1364	0.00	0.00	0.00	0.000	6	0.000	0.000	2521	2205	3254
1672	-0.79	-146.0	161.7	-7.7	197	1676	0.00	2.30	0.00	0.000	4	0.000	0.076	2511	3596	3254
1701	-0.84	-146.0	163.6	-6.9	198	1705	0.00	2.17	0.00	0.000	6	0.000	0.052	2511	2211	3254
2029	-0.84	-146.0	188.0	-9.1	214	2033	0.00	2.25	0.00	0.000	4	0.000	0.065	2511	810	3254
2040	-0.84	-146.0	189.2	-9.4	214	2045	0.00	2.33	0.00	0.000	6	0.000	0.062	2501	2234	3254
2363	-0.84	-146.0	216.9	-7.9	230	2367	0.00	2.22	0.00	0.000	4	0.000	0.077	2490	3599	3253
2387	-0.84	-146.0	218.7	-7.7	231	2391	0.00	2.17	0.00	0.000	6	0.000	0.052	2491	2215	3254
2720	-0.84	-146.0	243.2	-7.0	247	2724	0.00	2.30	0.00	0.000	4	0.000	0.075	2481	3598	3253
2789	-0.84	-146.0	248.2	-7.1	250	2793	0.00	2.15	0.00	0.000	6	0.000	0.052	2481	2224	3253
3122	-0.84	-146.0	267.9	-5.9	266	3123	0.00	0.00	0.00	0.000	6	0.000	0.000	2481	2223	3254
3431	-0.84	-146.0	289.7	-7.3	281	3432	0.00	0.00	0.00	0.000	6	0.000	0.000	2480	2223	3253
3741	-0.84	-146.0	312.3	-7.5	296	3742	0.00	0.00	0.00	0.000	6	0.000	0.000	2481	2223	3253
4050	-0.84	-146.0	336.8	-7.5	311	4051	0.00	0.00	0.00	0.000	6	0.000	0.000	2481	2223	3253
4359	-0.84	-146.0	355.6	-5.3	326	4363	0.00	2.28	0.00	0.000	4	0.000	0.067	2481	813	3253
4372	-0.84	-146.0	356.3	-5.3	326	4376	0.12	2.33	0.00	0.000	6	0.138	0.062	2504	2232	3253
4689	-0.94	-146.0	367.9	-3.7	341	4691	0.12	0.00	0.00	0.000	6	0.088	0.000	2453	2232	3252
4998	-0.86	-146.0	386.0	-6.4	356	5003	0.15	2.35	0.00	0.000	4	0.150	0.063	2498	813	3253
5022	-0.86	-146.0	387.4	-5.7	357	5026	0.00	2.33	0.00	0.000	6	0.000	0.061	2490	2232	3253
5369	-0.92	-146.0	407.7	-6.0	371	5370	0.00	0.00	0.00	0.000	6	0.000	0.000	2490	2232	3253
5694	-0.99	-146.0	426.8	-5.8	379	5695	0.10	0.00	0.00	0.000	6	0.093	0.000	2444	2232	3253
6019	-0.88	-146.0	450.0	-7.3	387	6024	0.17	2.33	0.00	0.000	4	0.147	0.061	2497	813	3253
6030	-0.81	-146.0	450.8	-7.2	387	6035	0.00	2.33	0.00	0.000	6	0.000	0.059	2489	2244	3253
6139	end dive: TARGET_DEPTH_EXCEEDED
state	6139	begin apogee
6148	-0.31	0.0	457.1	5.7	390	6279	0.40	0.00	127.50	1.144	6	0.125	0.000	2614	1742	2650
6279	end apogee: CONTROL_FINISHED_OK
state	6279	begin climb
6284	0.99	146.0	459.4	0.0	393	6420	0.88	0.00	132.43	1.063	6	0.098	0.000	2893	1742	2054
6735	0.84	146.0	419.4	9.9	404	6737	0.12	0.00	0.00	0.000	6	0.132	0.000	2860	1742	2048
7037	0.84	146.0	395.8	7.4	412	7038	0.00	0.00	0.00	0.000	6	0.000	0.000	2860	1742	2047
7347	0.84	146.0	374.3	7.1	427	7348	0.00	0.00	0.00	0.000	6	0.000	0.000	2860	1742	2046
7656	0.84	146.0	349.4	8.7	442	7659	0.00	2.38	0.00	0.000	4	0.000	0.065	2860	3156	2046
7702	0.71	146.0	344.8	10.6	444	7707	0.15	2.30	0.00	0.000	6	0.135	0.052	2825	1726	2046
8032	0.82	146.0	317.3	8.6	460	8034	0.12	0.00	0.00	0.000	6	0.074	0.000	2883	1726	2046
8339	0.74	146.0	288.0	8.5	475	8341	0.15	0.00	0.00	0.000	6	0.127	0.000	2839	1726	2046
8651	0.94	227.6	270.4	4.4	490	8728	0.15	2.50	69.35	1.015	4	0.073	0.064	2905	3149	1722
8794	0.75	227.6	260.9	8.0	496	8799	0.25	2.33	0.00	0.000	6	0.127	0.051	2842	1725	1716
9112	1.20	265.5	246.8	5.8	511	9155	0.28	2.38	33.10	0.981	4	0.077	0.067	2957	332	1567
9238	1.05	265.5	234.9	11.7	516	9243	0.20	2.33	0.00	0.000	6	0.136	0.053	2901	1742	1564
9557	1.05	265.5	203.0	10.4	531	9561	0.00	2.28	0.00	0.000	4	0.000	0.067	2900	3154	1560
9654	0.96	265.5	192.6	9.6	535	9658	0.00	2.25	0.00	0.000	6	0.000	0.053	2908	1734	1558
9983	0.98	285.3	168.2	6.4	551	10003	0.00	0.00	17.60	0.947	6	0.000	0.000	2908	1734	1486
10311	0.98	285.3	146.9	8.4	567	10315	0.00	2.35	0.00	0.000	4	0.000	0.069	2908	3159	1481
10341	0.98	285.3	143.9	10.0	568	10346	0.10	2.28	0.00	0.000	6	0.143	0.054	2891	1730	1480
10670	1.17	323.9	123.8	5.8	584	10713	0.15	2.35	34.70	0.950	4	0.070	0.070	2969	331	1330
10754	1.09	323.9	115.6	11.2	587	10761	0.20	2.35	0.00	0.000	6	0.131	0.055	2912	1751	1328
11083	1.22	337.6	89.8	6.6	621	11102	0.12	2.30	12.57	0.882	4	0.077	0.070	2966	3160	1273
11127	1.14	337.6	85.7	9.2	628	11134	0.20	2.30	0.00	0.000	6	0.137	0.055	2920	1730	1272
11475	1.22	337.6	60.5	7.2	689	11482	0.10	2.30	0.00	0.000	4	0.082	0.070	2976	333	1269
11523	1.22	337.6	55.9	9.5	697	11530	0.12	2.33	0.00	0.000	6	0.139	0.056	2943	1750	1269
11870	1.22	337.6	26.6	9.8	758	11876	0.00	2.28	0.00	0.000	4	0.000	0.071	2943	3152	1267
11917	1.17	337.6	18.7	16.9	766	11924	0.00	2.25	0.00	0.000	6	0.000	0.054	2951	1733	1266
12064	end climb: FINISH_DEPTH_REACHED
state	12068	begin subsurface finish
12077	0.10	77.3	6.8	-10.5	792	12119	0.80	2.40	-36.45	0.000	4	0.140	0.082	2702	322	2338
12120	end subsurface finish: CONTROL_FINISHED_OK
state	12120	begin surface