Glider dive log

DavisStrait Sep08 * SG108 * Dive index * Mission links * Dive 375 * 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 375 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 19 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 -119587.97 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 -119587.97

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 26 VBD_BLEED_AD_RATE 8

C_VBD 2650 MAX_BUOY 150 R_STBD_OVSHOOT 19 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 375 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 3 TGT_LATLONG 6703.000,-5648.000

_XMS_NAKs 0 TGT_RADIUS 10000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.160,0.170

_SM_DEPTHo 3.50 KALMAN_X 170780.9,706.4,375.1,-269546.0,-955.7

_SM_ANGLEo -5.6 KALMAN_Y -345114.5,-1924.5,2321.3,227294.3,-8282.2

GPS2 162640,6549.961,-5953.022,0,2106.0,0,-37.3 MHEAD_RNG_PITCHd_Wd 80.6,190132,-13.0,-7.021

SPEED_LIMITS 0.122,0.233 D_GRID 539

Post-dive calculations and measurements:

FREEZE 6.69,-1.765,-1.796 TCM_TEMP 14.90

FINISH1 6.7,1.026310,66 XPDR_PINGS 74

FINISH2 5.7 _24V_AH 22.1,63.416

RAFOS_CLK 684 _10V_AH 10.5,28.810

RAFOS 0,1227715444,16.083334,16.067778,61,55,53,51,51,50,212,116,194,138,918,161 DATA_FILE_SIZE 31612,955

RAFOS_FIX 48417.492188,-99720.539062,261108,000036,2,72,2605.71 CAP_FILE_SIZE 119165,0

IRIDIUM_FIX 6548.42,-6024.58,170298,151550 CFSIZE 260165632,226684928

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

HUMID 1805 SOUNDSPEED 1446.4

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 7 159 26.88 SBE_CT 669 24 355.01

Roll_motor 125 83 232.57 SBE_O2 0 0 0.00

VBD_pump_during_apogee 342 1199 9067.39 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 18 420 171.72

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 0 50 0.00

TT8 1710 19 357.84

LPSleep 11093 2 269.08

TT8_Active 474 19 99.35

TT8_Sampling 1732 39 726.31

TT8_CF8 225 45 108.50

TT8_Kalman 33 81 28.69

Analog_circuits 1388 12 174.92

GPS_charging 0 0 0.00

Compass 1719 8 144.47

RAFOS 2160 1 34.02

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

17 -0.99 -146.0 0.0 0.0 0 52 0.00 0.00 -33.03 0.000 2 0.000 0.000 2700 332 3077

55 -0.99 -146.0 3.1 -0.8 6 74 0.65 5.40 -7.30 0.000 4 0.076 0.074 2434 3601 3249

159 -0.72 -146.0 14.8 -12.7 24 167 0.28 2.17 0.00 0.000 6 0.160 0.052 2520 2213 3252

505 -0.72 -146.0 40.8 -7.2 85 510 0.00 0.00 0.00 0.000 6 0.000 0.000 2520 2213 3253

848 -0.72 -146.0 66.9 -7.8 146 854 0.00 2.22 0.00 0.000 4 0.000 0.066 2521 812 3252

945 -0.72 -146.0 74.8 -8.5 163 951 0.00 2.35 0.00 0.000 6 0.000 0.067 2513 2239 3252

1302 -0.72 -146.0 103.3 -8.0 221 1306 0.00 2.22 0.00 0.000 4 0.000 0.082 2502 3595 3252

1402 -0.72 -146.0 111.9 -8.5 225 1406 0.00 2.17 0.00 0.000 6 0.000 0.054 2502 2214 3252

1724 -0.72 -146.0 132.9 -6.5 241 1727 0.00 2.22 0.00 0.000 4 0.000 0.066 2502 814 3252

1774 -0.67 -146.0 136.5 -6.7 243 1779 0.15 2.35 0.00 0.000 6 0.139 0.068 2533 2241 3252

2096 -0.82 -146.0 156.4 -6.7 259 2098 0.12 0.00 0.00 0.000 6 0.083 0.000 2482 2240 3251

2406 -0.82 -146.0 181.5 -7.9 274 2410 0.00 2.33 0.00 0.000 4 0.000 0.067 2482 814 3251

2496 -0.74 -146.0 189.1 -8.2 278 2501 0.17 2.33 0.00 0.000 6 0.143 0.068 2522 2232 3251

2823 -0.85 -146.0 207.8 -5.4 294 2828 0.12 2.30 0.00 0.000 4 0.085 0.065 2470 820 3251

2867 -0.73 -146.0 210.9 -7.3 296 2872 0.22 2.35 0.00 0.000 6 0.143 0.069 2524 2244 3251

3191 -0.87 -146.0 227.2 -5.1 312 3193 0.12 0.00 0.00 0.000 6 0.083 0.000 2473 2244 3250

3498 -0.82 -146.0 250.5 -7.8 327 3499 0.12 0.00 0.00 0.000 6 0.156 0.000 2505 2244 3250

3808 -0.91 -146.0 271.0 -6.4 342 3813 0.10 2.35 0.00 0.000 4 0.096 0.067 2464 810 3250

3998 -0.80 -146.0 287.0 -7.9 350 4005 0.20 2.35 0.00 0.000 6 0.140 0.070 2511 2231 3249

4315 -0.92 -146.0 306.5 -6.1 366 4317 0.12 0.00 0.00 0.000 6 0.085 0.000 2460 2231 3249

4623 -0.87 -146.0 329.4 -7.2 381 4628 0.12 2.33 0.00 0.000 4 0.158 0.065 2500 810 3249

4657 -0.91 -146.0 331.6 -6.2 382 4664 0.00 2.35 0.00 0.000 6 0.000 0.067 2492 2237 3249

4974 -0.97 -146.0 350.0 -5.6 398 4978 0.10 2.33 0.00 0.000 4 0.088 0.065 2448 814 3249

5023 -0.83 -146.0 353.5 -7.2 400 5028 0.22 2.35 0.00 0.000 6 0.140 0.067 2501 2237 3249

5342 -0.93 -146.0 369.9 -5.2 415 5344 0.10 0.00 0.00 0.000 6 0.091 0.000 2460 2237 3249

5649 -0.93 -146.0 389.9 -6.8 430 5650 0.00 0.00 0.00 0.000 6 0.000 0.000 2461 2236 3250

5977 -0.93 -146.0 411.9 -6.7 442 5980 0.00 2.22 0.00 0.000 4 0.000 0.081 2450 3597 3250

6033 -0.87 -146.0 416.3 -7.6 443 6037 0.15 2.15 0.00 0.000 6 0.153 0.051 2490 2224 3250

6351 -0.95 -146.0 435.1 -5.7 451 6355 0.00 2.22 0.00 0.000 4 0.000 0.065 2490 822 3251

6397 -0.95 -146.0 438.0 -7.2 452 6401 0.00 2.33 0.00 0.000 6 0.000 0.066 2482 2239 3251

6721 -0.95 -146.0 457.8 -6.2 460 6725 0.00 2.30 0.00 0.000 4 0.000 0.064 2482 821 3251

6761 -0.95 -146.0 460.3 -6.4 460 6767 0.00 2.33 0.00 0.000 6 0.000 0.065 2472 2239 3251

7092 -0.95 -146.0 479.9 -5.8 469 7093 0.00 0.00 0.00 0.000 6 0.000 0.000 2472 2239 3252

7418 -0.95 -146.0 498.1 -5.4 477 7421 0.00 2.30 0.00 0.000 4 0.000 0.063 2472 817 3252

7457 -0.95 -146.0 500.4 -6.0 477 7463 0.00 2.33 0.00 0.000 6 0.000 0.065 2462 2236 3252

7789 -0.95 -146.0 518.8 -5.4 486 7790 0.00 0.00 0.00 0.000 6 0.000 0.000 2462 2236 3252

8114 -0.95 -146.0 537.3 -5.8 494 8115 0.00 0.00 0.00 0.000 6 0.000 0.000 2462 2236 3253

8152 end dive: TARGET_DEPTH_EXCEEDED

state 8153 begin apogee

8160 -0.31 0.0 539.6 5.8 495 8289 0.47 0.00 126.45 1.200 6 0.123 0.000 2613 1737 2650

8290 end apogee: CONTROL_FINISHED_OK

state 8290 begin climb

8293 0.99 146.0 541.1 0.0 498 8429 0.90 0.00 132.25 1.120 6 0.092 0.000 2899 1737 2055

8720 0.76 146.0 497.5 11.1 509 8725 0.20 2.50 0.00 0.000 4 0.126 0.070 2842 3156 2047

8749 0.64 146.0 494.6 10.0 509 8753 0.12 2.38 0.00 0.000 6 0.136 0.052 2817 1738 2046

9080 0.72 147.4 471.1 7.0 517 9082 0.00 0.00 0.00 0.000 6 0.000 0.000 2817 1737 2045

9405 0.81 161.0 449.4 6.6 525 9425 0.15 2.42 12.55 1.043 4 0.073 0.070 2882 3156 1993

9443 0.57 161.0 445.7 10.6 525 9450 0.30 2.30 0.00 0.000 6 0.134 0.052 2804 1728 1992

9775 0.76 187.6 424.6 6.2 534 9802 0.15 0.00 24.58 1.091 6 0.069 0.000 2871 1728 1885

10080 0.65 187.6 396.3 9.4 542 10085 0.17 2.40 0.00 0.000 4 0.121 0.067 2819 3163 1881

10113 0.65 187.6 393.4 7.8 543 10119 0.00 2.28 0.00 0.000 6 0.000 0.052 2827 1736 1880

10429 0.74 190.1 371.9 6.9 559 10433 0.00 2.35 0.00 0.000 4 0.000 0.070 2827 3163 1880

10462 0.74 190.1 369.2 8.0 560 10466 0.00 2.25 0.00 0.000 6 0.000 0.052 2836 1734 1879

10785 0.80 190.1 346.1 7.0 576 10788 0.00 2.33 0.00 0.000 4 0.000 0.070 2836 3154 1880

10807 0.80 190.1 344.2 8.0 577 10811 0.00 2.25 0.00 0.000 6 0.000 0.052 2846 1728 1879

11139 0.80 190.1 318.9 7.5 593 11140 0.00 0.00 0.00 0.000 6 0.000 0.000 2846 1728 1879

11450 0.84 190.1 296.4 7.2 608 11453 0.00 2.33 0.00 0.000 4 0.000 0.069 2846 3154 1879

11506 0.77 190.1 291.5 9.0 610 11509 0.00 2.22 0.00 0.000 6 0.000 0.053 2856 1738 1879

11827 0.77 190.1 267.1 7.4 626 11831 0.00 2.28 0.00 0.000 4 0.000 0.067 2866 324 1879

11855 0.77 190.1 264.8 8.2 627 11859 0.00 2.30 0.00 0.000 6 0.000 0.057 2866 1745 1879

12181 0.77 190.1 238.4 8.1 643 12185 0.00 2.28 0.00 0.000 4 0.000 0.071 2866 3162 1879

12232 0.62 190.1 233.8 9.2 645 12237 0.22 2.25 0.00 0.000 6 0.126 0.053 2808 1736 1878

12554 1.07 190.1 211.8 7.1 661 12559 0.30 2.33 0.00 0.000 4 0.074 0.071 2924 3161 1879

12745 0.74 190.1 189.9 12.4 669 12750 0.32 2.25 0.00 0.000 6 0.136 0.054 2837 1734 1878

13061 0.96 213.6 169.9 6.3 684 13086 0.17 0.00 22.27 0.976 6 0.076 0.000 2909 1734 1779

13390 1.03 213.6 141.8 8.3 700 13394 0.00 2.30 0.00 0.000 4 0.000 0.070 2918 324 1776

13418 1.03 213.6 139.4 8.4 701 13422 0.00 2.33 0.00 0.000 6 0.000 0.058 2918 1749 1776

13744 0.91 213.6 108.4 9.6 717 13749 0.15 2.28 0.00 0.000 4 0.133 0.074 2874 3149 1775

13817 0.91 213.6 101.9 8.5 720 13821 0.00 2.25 0.00 0.000 6 0.000 0.055 2882 1733 1774

14158 0.97 213.6 76.9 7.4 777 14164 0.00 0.00 0.00 0.000 6 0.000 0.000 2882 1733 1774

14502 1.06 227.7 53.7 6.6 838 14522 0.10 2.35 13.15 0.908 4 0.087 0.072 2939 331 1721

14546 1.01 227.7 50.2 8.3 845 14553 0.15 2.33 0.00 0.000 6 0.133 0.061 2897 1749 1721

14894 1.07 238.8 25.7 6.7 906 14911 0.00 2.33 10.77 0.877 4 0.000 0.078 2897 3164 1676

14940 1.07 238.8 22.0 7.9 914 14947 0.00 2.30 0.00 0.000 6 0.000 0.058 2904 1731 1675

15142 end climb: FINISH_DEPTH_REACHED

state 15142 begin subsurface finish

15150 0.08 65.8 6.7 -7.3 950 15181 0.62 2.30 -22.50 0.000 4 0.116 0.084 2699 331 2385

15181 end subsurface finish: CONTROL_FINISHED_OK

state 15181 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	375	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	19	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	-119587.97	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	3	TGT_LATLONG	6703.000,-5648.000
_XMS_NAKs	0	TGT_RADIUS	10000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.160,0.170
_SM_DEPTHo	3.50	KALMAN_X	170780.9,706.4,375.1,-269546.0,-955.7
_SM_ANGLEo	-5.6	KALMAN_Y	-345114.5,-1924.5,2321.3,227294.3,-8282.2
GPS2	162640,6549.961,-5953.022,0,2106.0,0,-37.3	MHEAD_RNG_PITCHd_Wd	80.6,190132,-13.0,-7.021
SPEED_LIMITS	0.122,0.233	D_GRID	539

FREEZE	6.69,-1.765,-1.796	TCM_TEMP	14.90
FINISH1	6.7,1.026310,66	XPDR_PINGS	74
FINISH2	5.7	_24V_AH	22.1,63.416
RAFOS_CLK	684	_10V_AH	10.5,28.810
RAFOS	0,1227715444,16.083334,16.067778,61,55,53,51,51,50,212,116,194,138,918,161	DATA_FILE_SIZE	31612,955
RAFOS_FIX	48417.492188,-99720.539062,261108,000036,2,72,2605.71	CAP_FILE_SIZE	119165,0
IRIDIUM_FIX	6548.42,-6024.58,170298,151550	CFSIZE	260165632,226684928
TT8_MAMPS	0.026845	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
HUMID	1805	SOUNDSPEED	1446.4
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	7	159	26.88	SBE_CT	669	24	355.01
Roll_motor	125	83	232.57	SBE_O2	0	0	0.00
VBD_pump_during_apogee	342	1199	9067.39	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	18	420	171.72
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	0	50	0.00
TT8	1710	19	357.84
LPSleep	11093	2	269.08
TT8_Active	474	19	99.35
TT8_Sampling	1732	39	726.31
TT8_CF8	225	45	108.50
TT8_Kalman	33	81	28.69
Analog_circuits	1388	12	174.92
GPS_charging	0	0	0.00
Compass	1719	8	144.47
RAFOS	2160	1	34.02
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
17	-0.99	-146.0	0.0	0.0	0	52	0.00	0.00	-33.03	0.000	2	0.000	0.000	2700	332	3077
55	-0.99	-146.0	3.1	-0.8	6	74	0.65	5.40	-7.30	0.000	4	0.076	0.074	2434	3601	3249
159	-0.72	-146.0	14.8	-12.7	24	167	0.28	2.17	0.00	0.000	6	0.160	0.052	2520	2213	3252
505	-0.72	-146.0	40.8	-7.2	85	510	0.00	0.00	0.00	0.000	6	0.000	0.000	2520	2213	3253
848	-0.72	-146.0	66.9	-7.8	146	854	0.00	2.22	0.00	0.000	4	0.000	0.066	2521	812	3252
945	-0.72	-146.0	74.8	-8.5	163	951	0.00	2.35	0.00	0.000	6	0.000	0.067	2513	2239	3252
1302	-0.72	-146.0	103.3	-8.0	221	1306	0.00	2.22	0.00	0.000	4	0.000	0.082	2502	3595	3252
1402	-0.72	-146.0	111.9	-8.5	225	1406	0.00	2.17	0.00	0.000	6	0.000	0.054	2502	2214	3252
1724	-0.72	-146.0	132.9	-6.5	241	1727	0.00	2.22	0.00	0.000	4	0.000	0.066	2502	814	3252
1774	-0.67	-146.0	136.5	-6.7	243	1779	0.15	2.35	0.00	0.000	6	0.139	0.068	2533	2241	3252
2096	-0.82	-146.0	156.4	-6.7	259	2098	0.12	0.00	0.00	0.000	6	0.083	0.000	2482	2240	3251
2406	-0.82	-146.0	181.5	-7.9	274	2410	0.00	2.33	0.00	0.000	4	0.000	0.067	2482	814	3251
2496	-0.74	-146.0	189.1	-8.2	278	2501	0.17	2.33	0.00	0.000	6	0.143	0.068	2522	2232	3251
2823	-0.85	-146.0	207.8	-5.4	294	2828	0.12	2.30	0.00	0.000	4	0.085	0.065	2470	820	3251
2867	-0.73	-146.0	210.9	-7.3	296	2872	0.22	2.35	0.00	0.000	6	0.143	0.069	2524	2244	3251
3191	-0.87	-146.0	227.2	-5.1	312	3193	0.12	0.00	0.00	0.000	6	0.083	0.000	2473	2244	3250
3498	-0.82	-146.0	250.5	-7.8	327	3499	0.12	0.00	0.00	0.000	6	0.156	0.000	2505	2244	3250
3808	-0.91	-146.0	271.0	-6.4	342	3813	0.10	2.35	0.00	0.000	4	0.096	0.067	2464	810	3250
3998	-0.80	-146.0	287.0	-7.9	350	4005	0.20	2.35	0.00	0.000	6	0.140	0.070	2511	2231	3249
4315	-0.92	-146.0	306.5	-6.1	366	4317	0.12	0.00	0.00	0.000	6	0.085	0.000	2460	2231	3249
4623	-0.87	-146.0	329.4	-7.2	381	4628	0.12	2.33	0.00	0.000	4	0.158	0.065	2500	810	3249
4657	-0.91	-146.0	331.6	-6.2	382	4664	0.00	2.35	0.00	0.000	6	0.000	0.067	2492	2237	3249
4974	-0.97	-146.0	350.0	-5.6	398	4978	0.10	2.33	0.00	0.000	4	0.088	0.065	2448	814	3249
5023	-0.83	-146.0	353.5	-7.2	400	5028	0.22	2.35	0.00	0.000	6	0.140	0.067	2501	2237	3249
5342	-0.93	-146.0	369.9	-5.2	415	5344	0.10	0.00	0.00	0.000	6	0.091	0.000	2460	2237	3249
5649	-0.93	-146.0	389.9	-6.8	430	5650	0.00	0.00	0.00	0.000	6	0.000	0.000	2461	2236	3250
5977	-0.93	-146.0	411.9	-6.7	442	5980	0.00	2.22	0.00	0.000	4	0.000	0.081	2450	3597	3250
6033	-0.87	-146.0	416.3	-7.6	443	6037	0.15	2.15	0.00	0.000	6	0.153	0.051	2490	2224	3250
6351	-0.95	-146.0	435.1	-5.7	451	6355	0.00	2.22	0.00	0.000	4	0.000	0.065	2490	822	3251
6397	-0.95	-146.0	438.0	-7.2	452	6401	0.00	2.33	0.00	0.000	6	0.000	0.066	2482	2239	3251
6721	-0.95	-146.0	457.8	-6.2	460	6725	0.00	2.30	0.00	0.000	4	0.000	0.064	2482	821	3251
6761	-0.95	-146.0	460.3	-6.4	460	6767	0.00	2.33	0.00	0.000	6	0.000	0.065	2472	2239	3251
7092	-0.95	-146.0	479.9	-5.8	469	7093	0.00	0.00	0.00	0.000	6	0.000	0.000	2472	2239	3252
7418	-0.95	-146.0	498.1	-5.4	477	7421	0.00	2.30	0.00	0.000	4	0.000	0.063	2472	817	3252
7457	-0.95	-146.0	500.4	-6.0	477	7463	0.00	2.33	0.00	0.000	6	0.000	0.065	2462	2236	3252
7789	-0.95	-146.0	518.8	-5.4	486	7790	0.00	0.00	0.00	0.000	6	0.000	0.000	2462	2236	3252
8114	-0.95	-146.0	537.3	-5.8	494	8115	0.00	0.00	0.00	0.000	6	0.000	0.000	2462	2236	3253
8152	end dive: TARGET_DEPTH_EXCEEDED
state	8153	begin apogee
8160	-0.31	0.0	539.6	5.8	495	8289	0.47	0.00	126.45	1.200	6	0.123	0.000	2613	1737	2650
8290	end apogee: CONTROL_FINISHED_OK
state	8290	begin climb
8293	0.99	146.0	541.1	0.0	498	8429	0.90	0.00	132.25	1.120	6	0.092	0.000	2899	1737	2055
8720	0.76	146.0	497.5	11.1	509	8725	0.20	2.50	0.00	0.000	4	0.126	0.070	2842	3156	2047
8749	0.64	146.0	494.6	10.0	509	8753	0.12	2.38	0.00	0.000	6	0.136	0.052	2817	1738	2046
9080	0.72	147.4	471.1	7.0	517	9082	0.00	0.00	0.00	0.000	6	0.000	0.000	2817	1737	2045
9405	0.81	161.0	449.4	6.6	525	9425	0.15	2.42	12.55	1.043	4	0.073	0.070	2882	3156	1993
9443	0.57	161.0	445.7	10.6	525	9450	0.30	2.30	0.00	0.000	6	0.134	0.052	2804	1728	1992
9775	0.76	187.6	424.6	6.2	534	9802	0.15	0.00	24.58	1.091	6	0.069	0.000	2871	1728	1885
10080	0.65	187.6	396.3	9.4	542	10085	0.17	2.40	0.00	0.000	4	0.121	0.067	2819	3163	1881
10113	0.65	187.6	393.4	7.8	543	10119	0.00	2.28	0.00	0.000	6	0.000	0.052	2827	1736	1880
10429	0.74	190.1	371.9	6.9	559	10433	0.00	2.35	0.00	0.000	4	0.000	0.070	2827	3163	1880
10462	0.74	190.1	369.2	8.0	560	10466	0.00	2.25	0.00	0.000	6	0.000	0.052	2836	1734	1879
10785	0.80	190.1	346.1	7.0	576	10788	0.00	2.33	0.00	0.000	4	0.000	0.070	2836	3154	1880
10807	0.80	190.1	344.2	8.0	577	10811	0.00	2.25	0.00	0.000	6	0.000	0.052	2846	1728	1879
11139	0.80	190.1	318.9	7.5	593	11140	0.00	0.00	0.00	0.000	6	0.000	0.000	2846	1728	1879
11450	0.84	190.1	296.4	7.2	608	11453	0.00	2.33	0.00	0.000	4	0.000	0.069	2846	3154	1879
11506	0.77	190.1	291.5	9.0	610	11509	0.00	2.22	0.00	0.000	6	0.000	0.053	2856	1738	1879
11827	0.77	190.1	267.1	7.4	626	11831	0.00	2.28	0.00	0.000	4	0.000	0.067	2866	324	1879
11855	0.77	190.1	264.8	8.2	627	11859	0.00	2.30	0.00	0.000	6	0.000	0.057	2866	1745	1879
12181	0.77	190.1	238.4	8.1	643	12185	0.00	2.28	0.00	0.000	4	0.000	0.071	2866	3162	1879
12232	0.62	190.1	233.8	9.2	645	12237	0.22	2.25	0.00	0.000	6	0.126	0.053	2808	1736	1878
12554	1.07	190.1	211.8	7.1	661	12559	0.30	2.33	0.00	0.000	4	0.074	0.071	2924	3161	1879
12745	0.74	190.1	189.9	12.4	669	12750	0.32	2.25	0.00	0.000	6	0.136	0.054	2837	1734	1878
13061	0.96	213.6	169.9	6.3	684	13086	0.17	0.00	22.27	0.976	6	0.076	0.000	2909	1734	1779
13390	1.03	213.6	141.8	8.3	700	13394	0.00	2.30	0.00	0.000	4	0.000	0.070	2918	324	1776
13418	1.03	213.6	139.4	8.4	701	13422	0.00	2.33	0.00	0.000	6	0.000	0.058	2918	1749	1776
13744	0.91	213.6	108.4	9.6	717	13749	0.15	2.28	0.00	0.000	4	0.133	0.074	2874	3149	1775
13817	0.91	213.6	101.9	8.5	720	13821	0.00	2.25	0.00	0.000	6	0.000	0.055	2882	1733	1774
14158	0.97	213.6	76.9	7.4	777	14164	0.00	0.00	0.00	0.000	6	0.000	0.000	2882	1733	1774
14502	1.06	227.7	53.7	6.6	838	14522	0.10	2.35	13.15	0.908	4	0.087	0.072	2939	331	1721
14546	1.01	227.7	50.2	8.3	845	14553	0.15	2.33	0.00	0.000	6	0.133	0.061	2897	1749	1721
14894	1.07	238.8	25.7	6.7	906	14911	0.00	2.33	10.77	0.877	4	0.000	0.078	2897	3164	1676
14940	1.07	238.8	22.0	7.9	914	14947	0.00	2.30	0.00	0.000	6	0.000	0.058	2904	1731	1675
15142	end climb: FINISH_DEPTH_REACHED
state	15142	begin subsurface finish
15150	0.08	65.8	6.7	-7.3	950	15181	0.62	2.30	-22.50	0.000	4	0.116	0.084	2699	331	2385
15181	end subsurface finish: CONTROL_FINISHED_OK
state	15181	begin surface