Glider dive log

DavisStrait Sep08 * SG108 * Dive index * Mission links * Dive 370 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 108 HEADING -1 PITCH_ADJ_DBAND 1 ALTIM_TOP_TURN_MARGIN 5

MISSION 11 ESCAPE_HEADING 80 ROLL_MIN 294 ALTIM_TOP_MIN_OBSTACLE 1.8

DIVE 370 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 21 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 -119219.47 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 70 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 1 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 1 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 70 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 -119219.47

CAPMAXSIZE 100000 HD_C 2.7999999e-06 RHO 1.02765 T_MISSION 550

CAPUPLOAD 0 HEADING -1 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 1 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 24 VBD_BLEED_AD_RATE 8

C_VBD 2650 MAX_BUOY 150 R_STBD_OVSHOOT 21 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 1 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 370 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 162640,6549.961,-5953.022,0,2106.0,0,-37.3 TGT_NAME TARGET_E_IN

_CALLS 2 TGT_LATLONG 6703.000,-5648.000

_XMS_NAKs 5 TGT_RADIUS 10000.000

_XMS_TOUTs 1 KALMAN_CONTROL 0.169,0.160

_SM_DEPTHo 2.39 KALMAN_X 170928.0,910.1,1863.2,-272907.8,-2594.7

_SM_ANGLEo -3.5 KALMAN_Y -326104.5,-1576.1,-3459.9,212348.9,5307.5

GPS2 162640,6549.961,-5953.022,0,2106.0,0,-37.3 MHEAD_RNG_PITCHd_Wd 83.8,190132,-13.0,-7.021

SPEED_LIMITS 0.122,0.233 D_GRID 539

Post-dive calculations and measurements:

FREEZE 6.81,-1.820,-1.806 TCM_TEMP 14.90

FINISH1 6.8,1.026450,59 XPDR_PINGS 35

FINISH2 4.8 _24V_AH 22.0,62.829

RAFOS_CLK 684 _10V_AH 10.5,28.525

RAFOS 0,1227643450,20.083334,20.069445,72,52,51,48,48,48,210,185,159,124,111,906 DATA_FILE_SIZE 28463,906

RAFOS_FIX -99026.125000,-1790531.750000,251108,202012,2,92,8481.65 CAP_FILE_SIZE 115742,0

IRIDIUM_FIX 6548.42,-6024.58,170298,151529 CFSIZE 260165632,226963456

TT8_MAMPS 0.026845 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

HUMID 1801 SOUNDSPEED 1446.2

INTERNAL_PRESSURE 9.90272 GPS 251108,162640,6549.961,-5953.022,0,2106.0,0,-37.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 6 159 23.34 SBE_CT 635 24 335.41

Roll_motor 125 84 233.69 SBE_O2 0 0 0.00

VBD_pump_during_apogee 357 1203 9460.29 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 8 420 80.85

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 0 50 0.00

TT8 1660 19 347.41

LPSleep 11022 2 267.36

TT8_Active 472 19 98.81

TT8_Sampling 1621 39 679.70

TT8_CF8 225 45 108.89

TT8_Kalman 33 81 28.71

Analog_circuits 1349 12 170.01

GPS_charging 0 0 0.00

Compass 1617 8 135.90

RAFOS 1800 1 28.35

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 13 begin dive

16 -0.99 -146.0 0.0 0.0 0 57 0.00 0.00 -38.35 0.000 2 0.000 0.000 2686 3160 3198

60 -0.99 -146.0 3.3 -2.2 7 67 0.65 0.00 -1.98 0.000 6 0.085 0.000 2456 3160 3247

405 -0.83 -146.0 41.7 -10.3 68 412 0.17 3.85 0.00 0.000 4 0.159 0.063 2511 810 3252

666 -0.83 -146.0 61.1 -7.8 114 672 0.00 2.38 0.00 0.000 6 0.000 0.074 2503 2244 3252

1010 -0.83 -146.0 91.3 -8.8 175 1016 0.00 2.22 0.00 0.000 4 0.000 0.083 2493 3598 3251

1062 -0.83 -146.0 96.2 -9.6 184 1068 0.00 2.17 0.00 0.000 6 0.000 0.055 2494 2222 3252

1392 -0.83 -146.0 124.0 -7.8 205 1396 0.00 2.25 0.00 0.000 4 0.000 0.069 2494 816 3252

1438 -0.79 -146.0 127.5 -7.7 207 1442 0.00 2.35 0.00 0.000 6 0.000 0.070 2487 2241 3251

1765 -0.79 -146.0 152.9 -7.1 223 1768 0.00 2.22 0.00 0.000 4 0.000 0.084 2476 3598 3251

1798 -0.79 -146.0 155.3 -7.5 224 1803 0.12 2.17 0.00 0.000 6 0.155 0.055 2508 2221 3251

2119 -0.85 -146.0 172.1 -5.2 240 2123 0.00 2.25 0.00 0.000 4 0.000 0.070 2508 814 3251

2166 -0.85 -146.0 174.8 -5.6 242 2170 0.00 2.35 0.00 0.000 6 0.000 0.069 2500 2245 3251

2492 -0.85 -146.0 194.5 -6.5 258 2496 0.00 2.33 0.00 0.000 4 0.000 0.068 2500 817 3251

2547 -0.85 -146.0 198.4 -7.5 260 2551 0.00 2.35 0.00 0.000 6 0.000 0.070 2490 2244 3251

2864 -0.85 -146.0 219.2 -6.7 275 2867 0.00 2.22 0.00 0.000 4 0.000 0.084 2480 3604 3250

2886 -0.85 -146.0 220.8 -7.0 276 2891 0.00 2.17 0.00 0.000 6 0.000 0.056 2481 2213 3251

3219 -0.85 -146.0 245.8 -7.4 292 3220 0.00 0.00 0.00 0.000 6 0.000 0.000 2480 2213 3251

3529 -0.85 -146.0 267.4 -6.8 307 3533 0.00 2.33 0.00 0.000 4 0.000 0.082 2470 3608 3250

3574 -0.85 -146.0 270.7 -7.1 309 3579 0.10 2.20 0.00 0.000 6 0.160 0.056 2494 2214 3250

3908 -0.91 -146.0 290.9 -6.0 325 3911 0.00 2.22 0.00 0.000 4 0.000 0.067 2497 815 3250

3958 -0.91 -146.0 294.2 -6.5 327 3963 0.00 2.35 0.00 0.000 6 0.000 0.069 2489 2244 3250

4283 -0.91 -146.0 315.1 -6.6 343 4287 0.00 2.30 0.00 0.000 4 0.000 0.067 2489 819 3250

4322 -0.91 -146.0 318.0 -7.5 345 4326 0.00 2.33 0.00 0.000 6 0.000 0.070 2478 2232 3250

4650 -0.91 -146.0 341.0 -7.0 361 4651 0.00 0.00 0.00 0.000 6 0.000 0.000 2479 2233 3250

4958 -0.91 -146.0 361.2 -6.2 376 4961 0.00 2.25 0.00 0.000 4 0.000 0.083 2468 3608 3250

4986 -0.91 -146.0 363.1 -6.5 377 4990 0.00 2.20 0.00 0.000 6 0.000 0.054 2468 2211 3250

5313 -0.91 -146.0 383.9 -6.2 393 5314 0.00 0.00 0.00 0.000 6 0.000 0.000 2468 2212 3250

5621 -0.91 -146.0 402.4 -5.9 407 5625 0.00 2.30 0.00 0.000 4 0.000 0.079 2458 3602 3251

5668 -0.87 -146.0 405.2 -6.2 408 5672 0.12 2.15 0.00 0.000 6 0.153 0.053 2490 2225 3251

5998 -0.94 -146.0 421.1 -4.8 416 6002 0.00 2.25 0.00 0.000 4 0.000 0.067 2490 810 3251

6054 -0.94 -146.0 424.0 -4.8 417 6058 0.00 2.33 0.00 0.000 6 0.000 0.065 2483 2236 3252

6368 -0.94 -146.0 440.3 -5.3 425 6369 0.00 0.00 0.00 0.000 6 0.000 0.000 2483 2236 3251

6694 -0.99 -146.0 457.1 -5.1 433 6695 0.00 0.00 0.00 0.000 6 0.000 0.000 2483 2236 3252

7017 -1.04 -146.0 473.7 -5.0 441 7019 0.10 0.00 0.00 0.000 6 0.090 0.000 2439 2236 3252

7343 -0.93 -146.0 494.0 -6.2 449 7347 0.15 2.30 0.00 0.000 4 0.149 0.063 2483 818 3252

7398 -0.93 -146.0 497.2 -5.0 450 7402 0.00 2.33 0.00 0.000 6 0.000 0.065 2475 2239 3253

7747 -0.93 -146.0 517.0 -6.1 459 7748 0.00 0.00 0.00 0.000 6 0.000 0.000 2475 2239 3253

8072 -0.93 -146.0 535.9 -5.6 467 8073 0.00 0.00 0.00 0.000 6 0.000 0.000 2475 2239 3253

8150 end dive: TARGET_DEPTH_EXCEEDED

state 8150 begin apogee

8157 -0.31 0.0 540.8 5.8 469 8286 0.45 0.00 126.40 1.203 6 0.127 0.000 2616 1738 2650

8287 end apogee: CONTROL_FINISHED_OK

state 8287 begin climb

8290 0.99 146.0 541.9 0.0 472 8426 0.88 0.00 132.00 1.126 6 0.092 0.000 2898 1738 2054

8737 0.75 146.0 491.2 11.7 483 8742 0.20 2.45 0.00 0.000 4 0.130 0.071 2837 3156 2047

8782 0.63 146.0 486.8 9.1 484 8787 0.12 2.35 0.00 0.000 6 0.137 0.053 2813 1734 2046

9101 0.75 164.2 466.1 6.4 492 9122 0.12 2.35 15.68 1.064 4 0.074 0.067 2878 323 1980

9141 0.64 164.2 462.7 9.1 493 9146 0.22 2.38 0.00 0.000 6 0.124 0.057 2813 1753 1980

9465 0.78 182.7 441.1 6.4 501 9490 0.12 2.35 17.08 1.074 4 0.074 0.070 2869 3155 1905

9541 0.55 182.7 433.8 11.3 502 9546 0.28 2.28 0.00 0.000 6 0.131 0.052 2799 1738 1904

9873 1.00 185.3 412.2 6.9 510 9883 0.28 2.33 3.45 0.640 4 0.071 0.067 2917 334 1894

9973 0.79 185.3 402.4 10.8 512 9978 0.25 2.30 0.00 0.000 6 0.136 0.057 2843 1749 1896

10291 0.79 185.3 377.8 7.8 527 10294 0.00 2.28 0.00 0.000 4 0.000 0.084 2843 3159 1895

10352 0.68 185.3 372.3 9.5 529 10359 0.10 2.25 0.00 0.000 6 0.141 0.053 2824 1734 1894

10669 0.83 208.8 351.2 6.3 545 10693 0.12 0.00 21.55 1.062 6 0.075 0.000 2881 1735 1799

10997 0.73 208.8 318.5 10.6 561 10999 0.15 0.00 0.00 0.000 6 0.123 0.000 2837 1734 1795

11307 0.84 208.8 294.2 7.8 576 11308 0.10 0.00 0.00 0.000 6 0.082 0.000 2883 1734 1794

11618 0.76 208.8 263.9 9.5 591 11620 0.15 0.00 0.00 0.000 6 0.125 0.000 2839 1734 1794

11925 0.88 208.8 242.0 7.0 606 11930 0.12 2.33 0.00 0.000 4 0.076 0.070 2893 3156 1793

11953 0.76 208.8 239.3 10.4 607 11958 0.22 2.25 0.00 0.000 6 0.133 0.054 2838 1732 1793

12269 0.90 213.6 216.7 6.9 622 12277 0.15 0.00 4.68 0.757 6 0.071 0.000 2904 1732 1779

12580 0.80 213.6 185.9 9.8 637 12584 0.17 2.35 0.00 0.000 4 0.128 0.071 2852 3161 1780

12619 0.80 213.6 182.2 8.3 639 12623 0.00 2.25 0.00 0.000 6 0.000 0.054 2859 1738 1779

12953 0.90 213.6 158.1 7.1 655 12957 0.00 2.28 0.00 0.000 4 0.000 0.070 2869 334 1779

12977 1.05 241.7 156.5 6.1 656 13009 0.12 2.28 26.33 0.983 6 0.080 0.057 2924 1748 1664

13328 0.94 241.7 123.5 9.3 673 13333 0.15 2.28 0.00 0.000 4 0.137 0.071 2880 3151 1659

13355 0.94 241.7 120.9 7.6 674 13359 0.00 2.28 0.00 0.000 6 0.000 0.055 2887 1729 1658

13677 1.01 246.0 99.2 6.9 690 13689 0.00 2.33 3.90 0.661 4 0.000 0.070 2897 327 1647

13713 1.09 250.7 96.6 6.9 696 13726 0.00 2.30 6.28 0.811 6 0.000 0.060 2897 1738 1627

14064 1.09 250.7 69.6 7.6 758 14070 0.00 2.30 0.00 0.000 4 0.000 0.076 2897 3154 1625

14128 0.99 250.7 64.5 8.3 769 14134 0.00 2.28 0.00 0.000 6 0.000 0.058 2907 1730 1625

14472 0.99 250.7 39.6 7.2 830 14478 0.00 2.30 0.00 0.000 4 0.000 0.072 2916 321 1625

14502 0.99 250.7 37.4 7.3 835 14508 0.00 2.33 0.00 0.000 6 0.000 0.061 2916 1741 1624

14846 0.99 250.7 9.8 8.7 896 14852 0.00 2.28 0.00 0.000 4 0.000 0.074 2916 3151 1623

14874 end climb: FINISH_DEPTH_REACHED

state 14874 begin subsurface finish

14885 0.07 58.9 6.8 -9.8 901 14915 0.73 0.00 -26.80 0.000 6 0.133 0.000 2696 1725 2412

14916 end subsurface finish: CONTROL_FINISHED_OK

state 14916 begin surface

ID	108	HEADING	-1	PITCH_ADJ_DBAND	1	ALTIM_TOP_TURN_MARGIN	5
MISSION	11	ESCAPE_HEADING	80	ROLL_MIN	294	ALTIM_TOP_MIN_OBSTACLE	1.8
DIVE	370	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	21	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	-119219.47	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	70	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	1	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	1	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	162640,6549.961,-5953.022,0,2106.0,0,-37.3	TGT_NAME	TARGET_E_IN
_CALLS	2	TGT_LATLONG	6703.000,-5648.000
_XMS_NAKs	5	TGT_RADIUS	10000.000
_XMS_TOUTs	1	KALMAN_CONTROL	0.169,0.160
_SM_DEPTHo	2.39	KALMAN_X	170928.0,910.1,1863.2,-272907.8,-2594.7
_SM_ANGLEo	-3.5	KALMAN_Y	-326104.5,-1576.1,-3459.9,212348.9,5307.5
GPS2	162640,6549.961,-5953.022,0,2106.0,0,-37.3	MHEAD_RNG_PITCHd_Wd	83.8,190132,-13.0,-7.021
SPEED_LIMITS	0.122,0.233	D_GRID	539

FREEZE	6.81,-1.820,-1.806	TCM_TEMP	14.90
FINISH1	6.8,1.026450,59	XPDR_PINGS	35
FINISH2	4.8	_24V_AH	22.0,62.829
RAFOS_CLK	684	_10V_AH	10.5,28.525
RAFOS	0,1227643450,20.083334,20.069445,72,52,51,48,48,48,210,185,159,124,111,906	DATA_FILE_SIZE	28463,906
RAFOS_FIX	-99026.125000,-1790531.750000,251108,202012,2,92,8481.65	CAP_FILE_SIZE	115742,0
IRIDIUM_FIX	6548.42,-6024.58,170298,151529	CFSIZE	260165632,226963456
TT8_MAMPS	0.026845	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
HUMID	1801	SOUNDSPEED	1446.2
INTERNAL_PRESSURE	9.90272	GPS	251108,162640,6549.961,-5953.022,0,2106.0,0,-37.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	6	159	23.34	SBE_CT	635	24	335.41
Roll_motor	125	84	233.69	SBE_O2	0	0	0.00
VBD_pump_during_apogee	357	1203	9460.29	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	8	420	80.85
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	0	50	0.00
TT8	1660	19	347.41
LPSleep	11022	2	267.36
TT8_Active	472	19	98.81
TT8_Sampling	1621	39	679.70
TT8_CF8	225	45	108.89
TT8_Kalman	33	81	28.71
Analog_circuits	1349	12	170.01
GPS_charging	0	0	0.00
Compass	1617	8	135.90
RAFOS	1800	1	28.35
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	13	begin dive
16	-0.99	-146.0	0.0	0.0	0	57	0.00	0.00	-38.35	0.000	2	0.000	0.000	2686	3160	3198
60	-0.99	-146.0	3.3	-2.2	7	67	0.65	0.00	-1.98	0.000	6	0.085	0.000	2456	3160	3247
405	-0.83	-146.0	41.7	-10.3	68	412	0.17	3.85	0.00	0.000	4	0.159	0.063	2511	810	3252
666	-0.83	-146.0	61.1	-7.8	114	672	0.00	2.38	0.00	0.000	6	0.000	0.074	2503	2244	3252
1010	-0.83	-146.0	91.3	-8.8	175	1016	0.00	2.22	0.00	0.000	4	0.000	0.083	2493	3598	3251
1062	-0.83	-146.0	96.2	-9.6	184	1068	0.00	2.17	0.00	0.000	6	0.000	0.055	2494	2222	3252
1392	-0.83	-146.0	124.0	-7.8	205	1396	0.00	2.25	0.00	0.000	4	0.000	0.069	2494	816	3252
1438	-0.79	-146.0	127.5	-7.7	207	1442	0.00	2.35	0.00	0.000	6	0.000	0.070	2487	2241	3251
1765	-0.79	-146.0	152.9	-7.1	223	1768	0.00	2.22	0.00	0.000	4	0.000	0.084	2476	3598	3251
1798	-0.79	-146.0	155.3	-7.5	224	1803	0.12	2.17	0.00	0.000	6	0.155	0.055	2508	2221	3251
2119	-0.85	-146.0	172.1	-5.2	240	2123	0.00	2.25	0.00	0.000	4	0.000	0.070	2508	814	3251
2166	-0.85	-146.0	174.8	-5.6	242	2170	0.00	2.35	0.00	0.000	6	0.000	0.069	2500	2245	3251
2492	-0.85	-146.0	194.5	-6.5	258	2496	0.00	2.33	0.00	0.000	4	0.000	0.068	2500	817	3251
2547	-0.85	-146.0	198.4	-7.5	260	2551	0.00	2.35	0.00	0.000	6	0.000	0.070	2490	2244	3251
2864	-0.85	-146.0	219.2	-6.7	275	2867	0.00	2.22	0.00	0.000	4	0.000	0.084	2480	3604	3250
2886	-0.85	-146.0	220.8	-7.0	276	2891	0.00	2.17	0.00	0.000	6	0.000	0.056	2481	2213	3251
3219	-0.85	-146.0	245.8	-7.4	292	3220	0.00	0.00	0.00	0.000	6	0.000	0.000	2480	2213	3251
3529	-0.85	-146.0	267.4	-6.8	307	3533	0.00	2.33	0.00	0.000	4	0.000	0.082	2470	3608	3250
3574	-0.85	-146.0	270.7	-7.1	309	3579	0.10	2.20	0.00	0.000	6	0.160	0.056	2494	2214	3250
3908	-0.91	-146.0	290.9	-6.0	325	3911	0.00	2.22	0.00	0.000	4	0.000	0.067	2497	815	3250
3958	-0.91	-146.0	294.2	-6.5	327	3963	0.00	2.35	0.00	0.000	6	0.000	0.069	2489	2244	3250
4283	-0.91	-146.0	315.1	-6.6	343	4287	0.00	2.30	0.00	0.000	4	0.000	0.067	2489	819	3250
4322	-0.91	-146.0	318.0	-7.5	345	4326	0.00	2.33	0.00	0.000	6	0.000	0.070	2478	2232	3250
4650	-0.91	-146.0	341.0	-7.0	361	4651	0.00	0.00	0.00	0.000	6	0.000	0.000	2479	2233	3250
4958	-0.91	-146.0	361.2	-6.2	376	4961	0.00	2.25	0.00	0.000	4	0.000	0.083	2468	3608	3250
4986	-0.91	-146.0	363.1	-6.5	377	4990	0.00	2.20	0.00	0.000	6	0.000	0.054	2468	2211	3250
5313	-0.91	-146.0	383.9	-6.2	393	5314	0.00	0.00	0.00	0.000	6	0.000	0.000	2468	2212	3250
5621	-0.91	-146.0	402.4	-5.9	407	5625	0.00	2.30	0.00	0.000	4	0.000	0.079	2458	3602	3251
5668	-0.87	-146.0	405.2	-6.2	408	5672	0.12	2.15	0.00	0.000	6	0.153	0.053	2490	2225	3251
5998	-0.94	-146.0	421.1	-4.8	416	6002	0.00	2.25	0.00	0.000	4	0.000	0.067	2490	810	3251
6054	-0.94	-146.0	424.0	-4.8	417	6058	0.00	2.33	0.00	0.000	6	0.000	0.065	2483	2236	3252
6368	-0.94	-146.0	440.3	-5.3	425	6369	0.00	0.00	0.00	0.000	6	0.000	0.000	2483	2236	3251
6694	-0.99	-146.0	457.1	-5.1	433	6695	0.00	0.00	0.00	0.000	6	0.000	0.000	2483	2236	3252
7017	-1.04	-146.0	473.7	-5.0	441	7019	0.10	0.00	0.00	0.000	6	0.090	0.000	2439	2236	3252
7343	-0.93	-146.0	494.0	-6.2	449	7347	0.15	2.30	0.00	0.000	4	0.149	0.063	2483	818	3252
7398	-0.93	-146.0	497.2	-5.0	450	7402	0.00	2.33	0.00	0.000	6	0.000	0.065	2475	2239	3253
7747	-0.93	-146.0	517.0	-6.1	459	7748	0.00	0.00	0.00	0.000	6	0.000	0.000	2475	2239	3253
8072	-0.93	-146.0	535.9	-5.6	467	8073	0.00	0.00	0.00	0.000	6	0.000	0.000	2475	2239	3253
8150	end dive: TARGET_DEPTH_EXCEEDED
state	8150	begin apogee
8157	-0.31	0.0	540.8	5.8	469	8286	0.45	0.00	126.40	1.203	6	0.127	0.000	2616	1738	2650
8287	end apogee: CONTROL_FINISHED_OK
state	8287	begin climb
8290	0.99	146.0	541.9	0.0	472	8426	0.88	0.00	132.00	1.126	6	0.092	0.000	2898	1738	2054
8737	0.75	146.0	491.2	11.7	483	8742	0.20	2.45	0.00	0.000	4	0.130	0.071	2837	3156	2047
8782	0.63	146.0	486.8	9.1	484	8787	0.12	2.35	0.00	0.000	6	0.137	0.053	2813	1734	2046
9101	0.75	164.2	466.1	6.4	492	9122	0.12	2.35	15.68	1.064	4	0.074	0.067	2878	323	1980
9141	0.64	164.2	462.7	9.1	493	9146	0.22	2.38	0.00	0.000	6	0.124	0.057	2813	1753	1980
9465	0.78	182.7	441.1	6.4	501	9490	0.12	2.35	17.08	1.074	4	0.074	0.070	2869	3155	1905
9541	0.55	182.7	433.8	11.3	502	9546	0.28	2.28	0.00	0.000	6	0.131	0.052	2799	1738	1904
9873	1.00	185.3	412.2	6.9	510	9883	0.28	2.33	3.45	0.640	4	0.071	0.067	2917	334	1894
9973	0.79	185.3	402.4	10.8	512	9978	0.25	2.30	0.00	0.000	6	0.136	0.057	2843	1749	1896
10291	0.79	185.3	377.8	7.8	527	10294	0.00	2.28	0.00	0.000	4	0.000	0.084	2843	3159	1895
10352	0.68	185.3	372.3	9.5	529	10359	0.10	2.25	0.00	0.000	6	0.141	0.053	2824	1734	1894
10669	0.83	208.8	351.2	6.3	545	10693	0.12	0.00	21.55	1.062	6	0.075	0.000	2881	1735	1799
10997	0.73	208.8	318.5	10.6	561	10999	0.15	0.00	0.00	0.000	6	0.123	0.000	2837	1734	1795
11307	0.84	208.8	294.2	7.8	576	11308	0.10	0.00	0.00	0.000	6	0.082	0.000	2883	1734	1794
11618	0.76	208.8	263.9	9.5	591	11620	0.15	0.00	0.00	0.000	6	0.125	0.000	2839	1734	1794
11925	0.88	208.8	242.0	7.0	606	11930	0.12	2.33	0.00	0.000	4	0.076	0.070	2893	3156	1793
11953	0.76	208.8	239.3	10.4	607	11958	0.22	2.25	0.00	0.000	6	0.133	0.054	2838	1732	1793
12269	0.90	213.6	216.7	6.9	622	12277	0.15	0.00	4.68	0.757	6	0.071	0.000	2904	1732	1779
12580	0.80	213.6	185.9	9.8	637	12584	0.17	2.35	0.00	0.000	4	0.128	0.071	2852	3161	1780
12619	0.80	213.6	182.2	8.3	639	12623	0.00	2.25	0.00	0.000	6	0.000	0.054	2859	1738	1779
12953	0.90	213.6	158.1	7.1	655	12957	0.00	2.28	0.00	0.000	4	0.000	0.070	2869	334	1779
12977	1.05	241.7	156.5	6.1	656	13009	0.12	2.28	26.33	0.983	6	0.080	0.057	2924	1748	1664
13328	0.94	241.7	123.5	9.3	673	13333	0.15	2.28	0.00	0.000	4	0.137	0.071	2880	3151	1659
13355	0.94	241.7	120.9	7.6	674	13359	0.00	2.28	0.00	0.000	6	0.000	0.055	2887	1729	1658
13677	1.01	246.0	99.2	6.9	690	13689	0.00	2.33	3.90	0.661	4	0.000	0.070	2897	327	1647
13713	1.09	250.7	96.6	6.9	696	13726	0.00	2.30	6.28	0.811	6	0.000	0.060	2897	1738	1627
14064	1.09	250.7	69.6	7.6	758	14070	0.00	2.30	0.00	0.000	4	0.000	0.076	2897	3154	1625
14128	0.99	250.7	64.5	8.3	769	14134	0.00	2.28	0.00	0.000	6	0.000	0.058	2907	1730	1625
14472	0.99	250.7	39.6	7.2	830	14478	0.00	2.30	0.00	0.000	4	0.000	0.072	2916	321	1625
14502	0.99	250.7	37.4	7.3	835	14508	0.00	2.33	0.00	0.000	6	0.000	0.061	2916	1741	1624
14846	0.99	250.7	9.8	8.7	896	14852	0.00	2.28	0.00	0.000	4	0.000	0.074	2916	3151	1623
14874	end climb: FINISH_DEPTH_REACHED
state	14874	begin subsurface finish
14885	0.07	58.9	6.8	-9.8	901	14915	0.73	0.00	-26.80	0.000	6	0.133	0.000	2696	1725	2412
14916	end subsurface finish: CONTROL_FINISHED_OK
state	14916	begin surface