Glider dive log

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 646 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 30 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 -3 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 -128979.77 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 -128979.77

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 -3

C_ROLL_CLIMB 1740 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 1

C_ROLL_DIVE 2230 MASS 51779 R_PORT_OVSHOOT 30 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 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 646 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 073938,6603.016,-5838.565,25,1.1,25,-36.7 TGT_NAME HEADING

_CALLS 3 TGT_LATLONG 6603.958,-5812.047

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 2.73 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -36.6 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 073938,6603.016,-5838.565,25,1.1,25,-36.7 MHEAD_RNG_PITCHd_Wd 121.7,20000,-13.0,-7.021

SPEED_LIMITS 0.122,0.233 D_GRID 516

Post-dive calculations and measurements:

FREEZE 1.97,-0.883,-1.806 _24V_AH 21.8,98.329

FINISH 2.0,1.026487 _10V_AH 10.4,43.549

RAFOS_CLK 620 DATA_FILE_SIZE 31546,944

RAFOS 0,1231488245,8.083333,8.068055,66,59,56,55,54,53,213,222,123,153,192,176 CAP_FILE_SIZE 124724,0

RAFOS_FIX 6617.756348,-5909.147949,080109,000040,2,99,0.64 CFSIZE 260165632,212353024

IRIDIUM_FIX 6537.93,-5836.74,050498,070722 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TT8_MAMPS 0.026845 SOUNDSPEED 1454.0

HUMID 1803 GPS 090109,073938,6603.016,-5838.565,25,1.1,25,-36.7

INTERNAL_PRESSURE 9.8246 ESCAPE_REASON NO_RECENT_FIX

TCM_TEMP 15.80 ESCAPE_STARTED_DIVE 581

XPDR_PINGS 127

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 15 181 60.53 SBE_CT 657 24 344.10

Roll_motor 119 92 240.53 SBE_O2 0 0 0.00

VBD_pump_during_apogee 543 1142 13542.71 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 91 103 206.01 nil 0 0 0.00

Iridium_during_connect 89 160 312.94 nil 0 0 0.00

Iridium_during_xfer 68 223 333.72

Transponder_ping 31 420 290.70

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 183 50 95.27

TT8 1692 19 350.66

LPSleep 10656 2 256.02

TT8_Active 628 19 130.23

TT8_Sampling 1867 39 775.41

TT8_CF8 899 45 429.68

TT8_Kalman 0 0 0.00

Analog_circuits 1592 12 198.76

GPS_charging 0 0 0.00

Compass 1675 8 139.39

RAFOS 1800 1 28.08

Transponder 0 5 0.03

Guidance and control:

st_secs pitch_ctl vbd_ctl depth ob_vertv data_pts end_secs pitch_secs roll_secs vbd_secs vbd_i gcphase pitch_i roll_i pitch_ad roll_ad vbd_ad

12 end surface: CONTROL_FINISHED_OK

state 12 begin dive

17 -0.99 -146.0 0.0 0.0 0 125 0.00 0.00 -105.93 0.000 6 0.000 0.000 337 2246 3246

130 -0.99 -146.0 2.8 0.1 19 143 7.57 2.50 0.00 0.000 4 0.182 0.092 2466 810 3248

400 -0.14 -146.0 2.8 -0.2 66 407 0.68 2.42 0.00 0.000 6 0.172 0.078 2645 2239 3251

748 -0.65 -146.0 28.5 -9.6 127 755 0.30 2.33 0.00 0.000 4 0.066 0.061 2523 818 3252

779 -0.90 -146.0 31.2 -7.9 132 786 0.12 2.33 0.00 0.000 6 0.075 0.061 2459 2232 3252

1127 -0.72 -146.0 64.3 -10.7 193 1134 0.20 2.30 0.00 0.000 4 0.144 0.060 2524 818 3251

1153 -0.61 -146.0 66.9 -10.6 197 1160 0.12 2.33 0.00 0.000 6 0.125 0.060 2551 2240 3252

1501 -0.81 -146.0 86.3 -4.2 258 1508 0.17 2.33 0.00 0.000 4 0.067 0.061 2477 811 3251

1551 -0.69 -146.0 89.4 -7.2 266 1558 0.22 2.33 0.00 0.000 6 0.133 0.060 2531 2243 3251

1892 -0.84 -146.0 112.7 -6.7 302 1894 0.12 0.00 0.00 0.000 6 0.079 0.000 2478 2243 3250

2203 -0.84 -146.0 137.4 -7.7 317 2207 0.00 2.22 0.00 0.000 4 0.000 0.071 2467 3606 3250

2272 -0.84 -146.0 143.1 -8.2 320 2276 0.12 2.17 0.00 0.000 6 0.140 0.050 2500 2219 3250

2611 -0.90 -146.0 161.2 -4.6 336 2615 0.00 2.22 0.00 0.000 4 0.000 0.061 2500 824 3250

2659 -0.90 -146.0 163.9 -5.2 338 2663 0.00 2.30 0.00 0.000 6 0.000 0.059 2492 2241 3250

2993 -0.90 -146.0 179.6 -3.7 354 2994 0.00 0.00 0.00 0.000 6 0.000 0.000 2492 2241 3250

3305 -0.95 -146.0 192.9 -5.6 369 3306 0.00 0.00 0.00 0.000 6 0.000 0.000 2493 2241 3250

3611 -0.95 -146.0 215.2 -7.9 384 3615 0.00 2.33 0.00 0.000 4 0.000 0.059 2492 818 3251

3640 -0.95 -146.0 217.5 -8.3 385 3643 0.00 2.33 0.00 0.000 6 0.000 0.057 2483 2240 3251

3968 -0.95 -146.0 245.0 -8.3 401 3972 0.00 2.33 0.00 0.000 4 0.000 0.058 2483 812 3253

3979 -0.95 -146.0 246.0 -8.3 401 3983 0.00 2.33 0.00 0.000 6 0.000 0.055 2473 2243 3253

4301 -0.95 -146.0 271.5 -7.3 417 4305 0.00 2.30 0.00 0.000 4 0.000 0.058 2473 822 3253

4335 -0.88 -146.0 274.3 -8.0 418 4340 0.10 2.30 0.00 0.000 6 0.136 0.057 2489 2238 3253

4659 -0.92 -146.0 295.8 -6.4 434 4660 0.00 0.00 0.00 0.000 6 0.000 0.000 2489 2237 3254

4967 -0.97 -146.0 315.6 -6.4 449 4971 0.00 2.30 0.00 0.000 4 0.000 0.058 2490 814 3254

4979 -0.97 -146.0 316.5 -6.4 449 4982 0.00 2.30 0.00 0.000 6 0.000 0.056 2483 2238 3254

5302 -0.97 -146.0 339.1 -7.6 465 5303 0.00 0.00 0.00 0.000 6 0.000 0.000 2483 2238 3254

5610 -0.97 -146.0 363.6 -7.9 480 5614 0.00 2.30 0.00 0.000 4 0.000 0.058 2483 813 3254

5644 -0.97 -146.0 366.4 -8.0 481 5648 0.00 2.30 0.00 0.000 6 0.000 0.057 2473 2238 3254

5966 -0.97 -146.0 390.9 -7.2 497 5970 0.00 2.28 0.00 0.000 4 0.000 0.058 2473 823 3254

5995 -0.92 -146.0 393.3 -7.9 498 6000 0.00 2.28 0.00 0.000 6 0.000 0.057 2462 2242 3254

6341 -0.92 -146.0 417.6 -6.9 509 6344 0.00 2.30 0.00 0.000 4 0.000 0.058 2462 814 3254

6367 -0.85 -146.0 419.3 -7.0 509 6371 0.15 2.30 0.00 0.000 6 0.128 0.056 2494 2242 3254

6710 -0.94 -146.0 436.9 -4.8 518 6712 0.00 0.00 0.00 0.000 6 0.000 0.000 2494 2242 3254

7035 -1.03 -146.0 451.9 -4.5 526 7040 0.15 2.30 0.00 0.000 4 0.077 0.057 2433 816 3254

7072 -0.83 -146.0 454.3 -7.4 526 7079 0.28 2.30 0.00 0.000 6 0.129 0.057 2504 2243 3254

7405 -0.94 -146.0 470.7 -4.8 535 7407 0.12 0.00 0.00 0.000 6 0.081 0.000 2451 2243 3254

7730 -0.87 -146.0 492.4 -6.9 543 7732 0.15 0.00 0.00 0.000 6 0.140 0.000 2493 2243 3254

8055 -0.96 -146.0 509.9 -5.3 551 8056 0.00 0.00 0.00 0.000 6 0.000 0.000 2493 2243 3254

8172 end dive: TARGET_DEPTH_EXCEEDED

state 8172 begin apogee

8181 -0.31 0.0 516.6 5.5 554 8311 0.38 0.00 127.15 1.142 6 0.116 0.000 2614 1736 2650

8312 end apogee: CONTROL_FINISHED_OK

state 8312 begin climb

8316 0.99 146.0 519.1 0.0 557 8452 0.85 0.00 131.30 1.069 6 0.094 0.000 2892 1736 2054

8766 0.84 146.0 480.8 9.1 568 8768 0.12 0.00 0.00 0.000 6 0.124 0.000 2857 1736 2047

9091 0.84 148.2 458.1 6.9 576 9095 0.00 2.30 0.00 0.000 4 0.000 0.063 2857 3156 2047

9137 0.70 148.2 454.3 8.6 577 9142 0.15 2.25 0.00 0.000 6 0.133 0.052 2822 1732 2046

9469 0.81 159.7 432.4 6.7 585 9486 0.12 2.33 11.32 0.989 4 0.072 0.064 2892 332 1998

9521 0.69 159.7 427.6 10.2 586 9526 0.22 2.28 0.00 0.000 6 0.127 0.049 2826 1753 1999

9836 0.80 172.4 406.1 6.6 594 9856 0.10 2.30 12.12 0.990 4 0.080 0.063 2874 3157 1947

9941 0.61 172.4 395.6 9.9 596 9948 0.25 2.25 0.00 0.000 6 0.128 0.051 2810 1734 1946

10259 0.85 225.0 377.7 5.3 612 10309 0.17 0.00 46.53 1.048 6 0.062 0.000 2890 1734 1732

10608 0.76 225.0 345.9 8.7 629 10613 0.17 2.28 0.00 0.000 4 0.122 0.062 2847 327 1725

10654 0.93 245.1 342.7 6.4 631 10679 0.12 2.28 17.67 0.980 6 0.074 0.050 2907 1748 1650

11006 0.82 245.1 309.9 9.4 648 11010 0.17 2.25 0.00 0.000 4 0.129 0.062 2855 3161 1646

11068 0.82 245.1 304.2 8.1 650 11075 0.00 2.25 0.00 0.000 6 0.000 0.050 2861 1730 1644

11386 0.82 245.1 280.9 7.7 666 11387 0.00 0.00 0.00 0.000 6 0.000 0.000 2861 1730 1644

11696 0.86 278.1 260.5 6.0 681 11731 0.00 2.38 29.38 0.973 4 0.000 0.062 2861 3152 1516

11778 0.86 278.1 255.0 7.7 684 11784 0.00 2.25 0.00 0.000 6 0.000 0.050 2871 1733 1514

12095 0.86 278.1 229.7 9.3 700 12099 0.00 2.25 0.00 0.000 4 0.000 0.063 2882 331 1511

12123 0.92 278.1 226.8 9.6 701 12128 0.00 2.25 0.00 0.000 6 0.000 0.050 2882 1751 1511

12451 0.92 278.1 192.5 10.6 717 12455 0.00 2.20 0.00 0.000 4 0.000 0.064 2882 3148 1509

12521 0.81 278.1 184.8 11.5 720 12526 0.15 2.22 0.00 0.000 6 0.128 0.050 2848 1730 1508

12856 0.98 304.6 160.4 6.2 736 12887 0.15 2.33 23.05 0.901 4 0.067 0.062 2929 331 1408

12940 0.92 304.6 152.3 11.3 739 12946 0.20 2.28 0.00 0.000 6 0.127 0.049 2871 1751 1408

13257 1.07 348.5 132.0 5.6 755 13304 0.15 2.30 39.38 0.878 4 0.067 0.063 2939 3145 1229

13357 0.89 348.5 121.5 11.8 759 13362 0.28 2.25 0.00 0.000 6 0.128 0.050 2868 1733 1226

13679 1.12 353.0 99.0 6.9 775 13692 0.17 2.30 3.92 0.570 4 0.064 0.061 2958 334 1211

13774 1.12 353.0 87.7 13.7 791 13781 0.15 2.25 0.00 0.000 6 0.126 0.048 2915 1744 1211

14122 1.20 353.0 51.1 11.7 852 14128 0.10 2.22 0.00 0.000 4 0.079 0.060 2961 3153 1211

14181 0.99 353.0 41.8 16.0 862 14189 0.28 2.22 0.00 0.000 6 0.130 0.048 2890 1730 1211

14530 1.31 516.8 14.7 1.8 923 14635 0.20 0.00 102.12 0.805 2 0.061 0.000 2983 1721 725

14636 end climb: SURFACE_DEPTH_REACHED

state 14636 begin surface coast

14671 end surface coast: CONTROL_FINISHED_OK

state 14672 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	646	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	30	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	-3	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	-128979.77	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	073938,6603.016,-5838.565,25,1.1,25,-36.7	TGT_NAME	HEADING
_CALLS	3	TGT_LATLONG	6603.958,-5812.047
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	2.73	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-36.6	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	073938,6603.016,-5838.565,25,1.1,25,-36.7	MHEAD_RNG_PITCHd_Wd	121.7,20000,-13.0,-7.021
SPEED_LIMITS	0.122,0.233	D_GRID	516

FREEZE	1.97,-0.883,-1.806	_24V_AH	21.8,98.329
FINISH	2.0,1.026487	_10V_AH	10.4,43.549
RAFOS_CLK	620	DATA_FILE_SIZE	31546,944
RAFOS	0,1231488245,8.083333,8.068055,66,59,56,55,54,53,213,222,123,153,192,176	CAP_FILE_SIZE	124724,0
RAFOS_FIX	6617.756348,-5909.147949,080109,000040,2,99,0.64	CFSIZE	260165632,212353024
IRIDIUM_FIX	6537.93,-5836.74,050498,070722	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TT8_MAMPS	0.026845	SOUNDSPEED	1454.0
HUMID	1803	GPS	090109,073938,6603.016,-5838.565,25,1.1,25,-36.7
INTERNAL_PRESSURE	9.8246	ESCAPE_REASON	NO_RECENT_FIX
TCM_TEMP	15.80	ESCAPE_STARTED_DIVE	581
XPDR_PINGS	127

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	15	181	60.53	SBE_CT	657	24	344.10
Roll_motor	119	92	240.53	SBE_O2	0	0	0.00
VBD_pump_during_apogee	543	1142	13542.71	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	91	103	206.01	nil	0	0	0.00
Iridium_during_connect	89	160	312.94	nil	0	0	0.00
Iridium_during_xfer	68	223	333.72
Transponder_ping	31	420	290.70
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	183	50	95.27
TT8	1692	19	350.66
LPSleep	10656	2	256.02
TT8_Active	628	19	130.23
TT8_Sampling	1867	39	775.41
TT8_CF8	899	45	429.68
TT8_Kalman	0	0	0.00
Analog_circuits	1592	12	198.76
GPS_charging	0	0	0.00
Compass	1675	8	139.39
RAFOS	1800	1	28.08
Transponder	0	5	0.03

st_secs	pitch_ctl	vbd_ctl	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad
12	end surface: CONTROL_FINISHED_OK
state	12	begin dive
17	-0.99	-146.0	0.0	0.0	0	125	0.00	0.00	-105.93	0.000	6	0.000	0.000	337	2246	3246
130	-0.99	-146.0	2.8	0.1	19	143	7.57	2.50	0.00	0.000	4	0.182	0.092	2466	810	3248
400	-0.14	-146.0	2.8	-0.2	66	407	0.68	2.42	0.00	0.000	6	0.172	0.078	2645	2239	3251
748	-0.65	-146.0	28.5	-9.6	127	755	0.30	2.33	0.00	0.000	4	0.066	0.061	2523	818	3252
779	-0.90	-146.0	31.2	-7.9	132	786	0.12	2.33	0.00	0.000	6	0.075	0.061	2459	2232	3252
1127	-0.72	-146.0	64.3	-10.7	193	1134	0.20	2.30	0.00	0.000	4	0.144	0.060	2524	818	3251
1153	-0.61	-146.0	66.9	-10.6	197	1160	0.12	2.33	0.00	0.000	6	0.125	0.060	2551	2240	3252
1501	-0.81	-146.0	86.3	-4.2	258	1508	0.17	2.33	0.00	0.000	4	0.067	0.061	2477	811	3251
1551	-0.69	-146.0	89.4	-7.2	266	1558	0.22	2.33	0.00	0.000	6	0.133	0.060	2531	2243	3251
1892	-0.84	-146.0	112.7	-6.7	302	1894	0.12	0.00	0.00	0.000	6	0.079	0.000	2478	2243	3250
2203	-0.84	-146.0	137.4	-7.7	317	2207	0.00	2.22	0.00	0.000	4	0.000	0.071	2467	3606	3250
2272	-0.84	-146.0	143.1	-8.2	320	2276	0.12	2.17	0.00	0.000	6	0.140	0.050	2500	2219	3250
2611	-0.90	-146.0	161.2	-4.6	336	2615	0.00	2.22	0.00	0.000	4	0.000	0.061	2500	824	3250
2659	-0.90	-146.0	163.9	-5.2	338	2663	0.00	2.30	0.00	0.000	6	0.000	0.059	2492	2241	3250
2993	-0.90	-146.0	179.6	-3.7	354	2994	0.00	0.00	0.00	0.000	6	0.000	0.000	2492	2241	3250
3305	-0.95	-146.0	192.9	-5.6	369	3306	0.00	0.00	0.00	0.000	6	0.000	0.000	2493	2241	3250
3611	-0.95	-146.0	215.2	-7.9	384	3615	0.00	2.33	0.00	0.000	4	0.000	0.059	2492	818	3251
3640	-0.95	-146.0	217.5	-8.3	385	3643	0.00	2.33	0.00	0.000	6	0.000	0.057	2483	2240	3251
3968	-0.95	-146.0	245.0	-8.3	401	3972	0.00	2.33	0.00	0.000	4	0.000	0.058	2483	812	3253
3979	-0.95	-146.0	246.0	-8.3	401	3983	0.00	2.33	0.00	0.000	6	0.000	0.055	2473	2243	3253
4301	-0.95	-146.0	271.5	-7.3	417	4305	0.00	2.30	0.00	0.000	4	0.000	0.058	2473	822	3253
4335	-0.88	-146.0	274.3	-8.0	418	4340	0.10	2.30	0.00	0.000	6	0.136	0.057	2489	2238	3253
4659	-0.92	-146.0	295.8	-6.4	434	4660	0.00	0.00	0.00	0.000	6	0.000	0.000	2489	2237	3254
4967	-0.97	-146.0	315.6	-6.4	449	4971	0.00	2.30	0.00	0.000	4	0.000	0.058	2490	814	3254
4979	-0.97	-146.0	316.5	-6.4	449	4982	0.00	2.30	0.00	0.000	6	0.000	0.056	2483	2238	3254
5302	-0.97	-146.0	339.1	-7.6	465	5303	0.00	0.00	0.00	0.000	6	0.000	0.000	2483	2238	3254
5610	-0.97	-146.0	363.6	-7.9	480	5614	0.00	2.30	0.00	0.000	4	0.000	0.058	2483	813	3254
5644	-0.97	-146.0	366.4	-8.0	481	5648	0.00	2.30	0.00	0.000	6	0.000	0.057	2473	2238	3254
5966	-0.97	-146.0	390.9	-7.2	497	5970	0.00	2.28	0.00	0.000	4	0.000	0.058	2473	823	3254
5995	-0.92	-146.0	393.3	-7.9	498	6000	0.00	2.28	0.00	0.000	6	0.000	0.057	2462	2242	3254
6341	-0.92	-146.0	417.6	-6.9	509	6344	0.00	2.30	0.00	0.000	4	0.000	0.058	2462	814	3254
6367	-0.85	-146.0	419.3	-7.0	509	6371	0.15	2.30	0.00	0.000	6	0.128	0.056	2494	2242	3254
6710	-0.94	-146.0	436.9	-4.8	518	6712	0.00	0.00	0.00	0.000	6	0.000	0.000	2494	2242	3254
7035	-1.03	-146.0	451.9	-4.5	526	7040	0.15	2.30	0.00	0.000	4	0.077	0.057	2433	816	3254
7072	-0.83	-146.0	454.3	-7.4	526	7079	0.28	2.30	0.00	0.000	6	0.129	0.057	2504	2243	3254
7405	-0.94	-146.0	470.7	-4.8	535	7407	0.12	0.00	0.00	0.000	6	0.081	0.000	2451	2243	3254
7730	-0.87	-146.0	492.4	-6.9	543	7732	0.15	0.00	0.00	0.000	6	0.140	0.000	2493	2243	3254
8055	-0.96	-146.0	509.9	-5.3	551	8056	0.00	0.00	0.00	0.000	6	0.000	0.000	2493	2243	3254
8172	end dive: TARGET_DEPTH_EXCEEDED
state	8172	begin apogee
8181	-0.31	0.0	516.6	5.5	554	8311	0.38	0.00	127.15	1.142	6	0.116	0.000	2614	1736	2650
8312	end apogee: CONTROL_FINISHED_OK
state	8312	begin climb
8316	0.99	146.0	519.1	0.0	557	8452	0.85	0.00	131.30	1.069	6	0.094	0.000	2892	1736	2054
8766	0.84	146.0	480.8	9.1	568	8768	0.12	0.00	0.00	0.000	6	0.124	0.000	2857	1736	2047
9091	0.84	148.2	458.1	6.9	576	9095	0.00	2.30	0.00	0.000	4	0.000	0.063	2857	3156	2047
9137	0.70	148.2	454.3	8.6	577	9142	0.15	2.25	0.00	0.000	6	0.133	0.052	2822	1732	2046
9469	0.81	159.7	432.4	6.7	585	9486	0.12	2.33	11.32	0.989	4	0.072	0.064	2892	332	1998
9521	0.69	159.7	427.6	10.2	586	9526	0.22	2.28	0.00	0.000	6	0.127	0.049	2826	1753	1999
9836	0.80	172.4	406.1	6.6	594	9856	0.10	2.30	12.12	0.990	4	0.080	0.063	2874	3157	1947
9941	0.61	172.4	395.6	9.9	596	9948	0.25	2.25	0.00	0.000	6	0.128	0.051	2810	1734	1946
10259	0.85	225.0	377.7	5.3	612	10309	0.17	0.00	46.53	1.048	6	0.062	0.000	2890	1734	1732
10608	0.76	225.0	345.9	8.7	629	10613	0.17	2.28	0.00	0.000	4	0.122	0.062	2847	327	1725
10654	0.93	245.1	342.7	6.4	631	10679	0.12	2.28	17.67	0.980	6	0.074	0.050	2907	1748	1650
11006	0.82	245.1	309.9	9.4	648	11010	0.17	2.25	0.00	0.000	4	0.129	0.062	2855	3161	1646
11068	0.82	245.1	304.2	8.1	650	11075	0.00	2.25	0.00	0.000	6	0.000	0.050	2861	1730	1644
11386	0.82	245.1	280.9	7.7	666	11387	0.00	0.00	0.00	0.000	6	0.000	0.000	2861	1730	1644
11696	0.86	278.1	260.5	6.0	681	11731	0.00	2.38	29.38	0.973	4	0.000	0.062	2861	3152	1516
11778	0.86	278.1	255.0	7.7	684	11784	0.00	2.25	0.00	0.000	6	0.000	0.050	2871	1733	1514
12095	0.86	278.1	229.7	9.3	700	12099	0.00	2.25	0.00	0.000	4	0.000	0.063	2882	331	1511
12123	0.92	278.1	226.8	9.6	701	12128	0.00	2.25	0.00	0.000	6	0.000	0.050	2882	1751	1511
12451	0.92	278.1	192.5	10.6	717	12455	0.00	2.20	0.00	0.000	4	0.000	0.064	2882	3148	1509
12521	0.81	278.1	184.8	11.5	720	12526	0.15	2.22	0.00	0.000	6	0.128	0.050	2848	1730	1508
12856	0.98	304.6	160.4	6.2	736	12887	0.15	2.33	23.05	0.901	4	0.067	0.062	2929	331	1408
12940	0.92	304.6	152.3	11.3	739	12946	0.20	2.28	0.00	0.000	6	0.127	0.049	2871	1751	1408
13257	1.07	348.5	132.0	5.6	755	13304	0.15	2.30	39.38	0.878	4	0.067	0.063	2939	3145	1229
13357	0.89	348.5	121.5	11.8	759	13362	0.28	2.25	0.00	0.000	6	0.128	0.050	2868	1733	1226
13679	1.12	353.0	99.0	6.9	775	13692	0.17	2.30	3.92	0.570	4	0.064	0.061	2958	334	1211
13774	1.12	353.0	87.7	13.7	791	13781	0.15	2.25	0.00	0.000	6	0.126	0.048	2915	1744	1211
14122	1.20	353.0	51.1	11.7	852	14128	0.10	2.22	0.00	0.000	4	0.079	0.060	2961	3153	1211
14181	0.99	353.0	41.8	16.0	862	14189	0.28	2.22	0.00	0.000	6	0.130	0.048	2890	1730	1211
14530	1.31	516.8	14.7	1.8	923	14635	0.20	0.00	102.12	0.805	2	0.061	0.000	2983	1721	725
14636	end climb: SURFACE_DEPTH_REACHED
state	14636	begin surface coast
14671	end surface coast: CONTROL_FINISHED_OK
state	14672	begin surface