Glider dive log

DavisStrait Sep08 * SG108 * Dive index * Mission links * Dive 377 * 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 377 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 23 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 23 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 377 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 203720,6547.468,-5925.922,0,3077.7,0,-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 0.175,0.154

_SM_DEPTHo 3.65 KALMAN_X 170698.2,-150.0,353.2,-263726.5,-849.4

_SM_ANGLEo -3.7 KALMAN_Y -351614.0,434.7,504.7,231137.5,-393.6

GPS2 203720,6547.468,-5925.922,0,3077.7,0,-37.3 MHEAD_RNG_PITCHd_Wd 85.9,180482,-13.0,-7.021

SPEED_LIMITS 0.122,0.233 D_GRID 570

Post-dive calculations and measurements:

FREEZE 6.96,-1.807,-1.810 TCM_TEMP 15.00

FINISH1 7.0,1.026508,56 XPDR_PINGS 32

FINISH2 4.5 _24V_AH 22.0,63.688

RAFOS_CLK 715 _10V_AH 10.5,28.920

RAFOS 1,1227744845,0.250000,0.234722,66,58,56,52,52,49,215,188,204,148,125,230 DATA_FILE_SIZE 28417,896

RAFOS_FIX 6548.959961,-5935.561523,271108,000028,3,100,0.58 CAP_FILE_SIZE 116114,0

IRIDIUM_FIX 6548.42,-6024.58,170298,151550 CFSIZE 260165632,226578432

TT8_MAMPS 0.029146 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

HUMID 1798 SOUNDSPEED 1447.9

INTERNAL_PRESSURE 9.91249 GPS 271108,002328,6548.960,-5935.562,0,3100.3,0,-37.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 8 155 27.57 SBE_CT 626 24 330.99

Roll_motor 107 129 307.06 SBE_O2 0 0 0.00

VBD_pump_during_apogee 468 1213 12509.12 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 73.92

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 0 50 0.00

TT8 1631 19 341.29

LPSleep 11874 2 288.01

TT8_Active 585 19 122.39

TT8_Sampling 1563 39 655.52

TT8_CF8 218 45 105.20

TT8_Kalman 33 81 28.70

Analog_circuits 1439 12 181.44

GPS_charging 0 0 0.00

Compass 1554 8 130.60

RAFOS 2880 1 45.36

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

16 -0.99 -145.9 0.0 0.0 0 58 0.00 0.00 -40.03 0.000 2 0.000 0.000 2683 3160 3204

62 -0.99 -146.0 3.0 -1.6 7 69 0.62 0.75 -1.77 0.000 4 0.093 0.130 2462 3601 3247

99 -1.19 -146.0 6.2 -7.6 13 106 0.15 2.17 0.00 0.000 6 0.084 0.054 2406 2219 3249

444 -0.82 -146.0 50.8 -13.4 74 451 0.30 2.25 0.00 0.000 4 0.156 0.066 2501 814 3250

526 -0.74 -146.0 58.6 -8.8 88 533 0.10 2.35 0.00 0.000 6 0.150 0.069 2518 2240 3251

871 -0.74 -146.0 84.9 -7.9 149 877 0.00 2.33 0.00 0.000 4 0.000 0.067 2520 812 3251

900 -0.74 -146.0 87.4 -8.1 154 906 0.00 2.35 0.00 0.000 6 0.000 0.074 2512 2234 3251

1245 -0.74 -146.0 112.6 -6.4 191 1249 0.00 2.30 0.00 0.000 4 0.000 0.066 2512 818 3250

1336 -0.74 -146.0 118.9 -7.2 195 1340 0.00 2.35 0.00 0.000 6 0.000 0.070 2502 2245 3250

1669 -0.74 -146.0 139.9 -6.0 211 1670 0.00 0.00 0.00 0.000 6 0.000 0.000 2503 2245 3251

1980 -0.74 -146.0 157.3 -5.4 226 1981 0.00 0.00 0.00 0.000 6 0.000 0.000 2502 2245 3250

2288 -0.74 -146.0 174.8 -6.1 241 2291 0.00 2.33 0.00 0.000 4 0.000 0.067 2502 818 3250

2311 -0.74 -146.0 176.3 -6.2 242 2316 0.10 2.35 0.00 0.000 6 0.143 0.070 2518 2242 3250

2640 -0.85 -146.0 194.4 -5.8 258 2642 0.10 0.00 0.00 0.000 6 0.091 0.000 2477 2242 3250

2946 -0.85 -146.0 217.1 -7.4 273 2950 0.00 2.22 0.00 0.000 4 0.000 0.084 2466 3597 3249

3008 -0.80 -146.0 222.1 -7.9 275 3015 0.15 2.17 0.00 0.000 6 0.153 0.055 2506 2218 3250

3325 -0.89 -146.0 241.3 -5.9 291 3329 0.00 2.22 0.00 0.000 4 0.000 0.067 2506 823 3250

3375 -0.89 -146.0 244.5 -6.5 293 3379 0.00 2.33 0.00 0.000 6 0.000 0.068 2498 2235 3249

3703 -0.94 -146.0 265.5 -6.4 309 3705 0.10 0.00 0.00 0.000 6 0.089 0.000 2453 2235 3249

4012 -0.84 -146.0 289.8 -7.6 324 4017 0.17 2.33 0.00 0.000 4 0.150 0.067 2501 817 3249

4052 -0.89 -146.0 292.5 -6.1 326 4056 0.00 2.35 0.00 0.000 6 0.000 0.069 2493 2244 3249

4386 -0.95 -146.0 312.0 -5.9 342 4387 0.00 0.00 0.00 0.000 6 0.000 0.000 2493 2244 3249

4695 -1.01 -146.0 331.3 -6.5 357 4697 0.12 0.00 0.00 0.000 6 0.083 0.000 2440 2244 3249

5005 -0.88 -146.0 354.9 -7.4 372 5010 0.17 2.35 0.00 0.000 4 0.152 0.065 2488 816 3249

5033 -0.88 -146.0 356.9 -6.3 373 5037 0.00 2.35 0.00 0.000 6 0.000 0.067 2480 2240 3249

5354 -0.88 -146.0 374.4 -5.2 389 5355 0.00 0.00 0.00 0.000 6 0.000 0.000 2480 2240 3250

5663 -0.88 -146.0 391.3 -5.4 404 5668 0.00 2.33 0.00 0.000 4 0.000 0.066 2480 814 3250

5726 -0.88 -146.0 394.9 -5.7 406 5732 0.00 2.35 0.00 0.000 6 0.000 0.067 2470 2236 3250

6058 -0.88 -146.0 413.4 -5.4 417 6060 0.00 0.00 0.00 0.000 6 0.000 0.000 2470 2236 3251

6383 -0.88 -146.0 430.3 -5.1 425 6385 0.00 0.00 0.00 0.000 6 0.000 0.000 2470 2236 3251

6708 -0.88 -146.0 447.3 -5.4 433 6710 0.00 0.00 0.00 0.000 6 0.000 0.000 2470 2236 3251

7034 -0.88 -146.0 465.4 -5.7 441 7038 0.00 2.30 0.00 0.000 4 0.000 0.064 2470 818 3252

7080 -0.83 -146.0 468.3 -6.4 442 7085 0.15 2.35 0.00 0.000 6 0.134 0.066 2502 2247 3252

7405 -0.96 -146.0 483.9 -4.7 450 7407 0.12 0.00 0.00 0.000 6 0.084 0.000 2451 2246 3252

7730 -0.89 -146.0 504.0 -6.3 458 7732 0.12 0.00 0.00 0.000 6 0.152 0.000 2484 2246 3252

8055 -0.96 -146.0 521.4 -5.2 466 8058 0.00 2.20 0.00 0.000 4 0.000 0.078 2475 3599 3253

8111 -1.02 -146.0 524.6 -5.9 467 8115 0.00 2.15 0.00 0.000 6 0.000 0.049 2476 2216 3253

8430 -1.02 -146.0 542.0 -5.4 475 8434 0.00 2.22 0.00 0.000 4 0.000 0.063 2475 812 3253

8469 -1.02 -146.0 544.3 -5.1 475 8476 0.00 2.33 0.00 0.000 6 0.000 0.064 2466 2238 3253

8801 -1.02 -146.0 563.0 -5.9 484 8802 0.00 0.00 0.00 0.000 6 0.000 0.000 2465 2239 3253

8920 end dive: TARGET_DEPTH_EXCEEDED

state 8920 begin apogee

8927 -0.31 0.0 570.4 6.1 487 9057 0.47 0.00 127.20 1.213 6 0.122 0.000 2616 1734 2650

9058 end apogee: CONTROL_FINISHED_OK

state 9058 begin climb

9061 0.99 146.0 572.2 0.0 490 9197 0.90 0.00 132.32 1.137 6 0.091 0.000 2902 1734 2055

9492 0.73 146.0 528.1 11.4 501 9494 0.22 0.00 0.00 0.000 6 0.131 0.000 2839 1734 2047

9814 0.73 146.0 502.0 7.9 509 9818 0.00 2.38 0.00 0.000 4 0.000 0.071 2839 3158 2046

9860 0.58 146.0 497.8 9.7 510 9865 0.17 2.30 0.00 0.000 6 0.129 0.054 2797 1725 2045

10185 0.75 174.8 477.5 6.1 518 10215 0.15 2.40 24.27 1.115 4 0.067 0.069 2866 3159 1937

10238 0.57 174.8 472.6 10.6 519 10243 0.25 2.30 0.00 0.000 6 0.131 0.051 2805 1730 1936

10552 0.77 202.8 452.5 6.1 527 10579 0.15 0.00 25.17 1.104 6 0.067 0.000 2871 1730 1823

10877 0.67 202.8 420.9 9.9 535 10882 0.17 2.35 0.00 0.000 4 0.123 0.068 2819 3159 1818

10904 0.67 202.8 418.4 8.1 535 10908 0.00 2.28 0.00 0.000 6 0.000 0.052 2826 1724 1817

11221 0.76 205.5 396.2 6.9 544 11225 0.00 2.35 0.00 0.000 4 0.000 0.068 2826 3166 1817

11245 0.80 205.5 394.5 7.6 545 11249 0.00 2.25 0.00 0.000 6 0.000 0.051 2835 1733 1817

11578 0.86 211.3 370.8 6.8 561 11588 0.12 0.00 7.93 0.953 6 0.077 0.000 2893 1733 1788

11887 0.71 211.3 339.6 10.4 576 11892 0.20 2.33 0.00 0.000 4 0.123 0.068 2827 3156 1787

11931 0.71 211.3 335.8 7.6 578 11935 0.00 2.25 0.00 0.000 6 0.000 0.052 2834 1730 1786

12260 0.80 222.9 313.7 6.6 594 12278 0.00 0.00 11.52 0.989 6 0.000 0.000 2834 1729 1741

12589 0.93 241.3 291.9 6.4 610 12612 0.15 2.42 17.83 1.014 4 0.072 0.068 2900 3152 1666

12641 0.69 241.3 286.5 11.4 612 12646 0.28 2.28 0.00 0.000 6 0.132 0.051 2829 1728 1664

12962 0.91 271.1 266.0 6.1 628 12992 0.17 0.00 27.75 1.011 6 0.067 0.000 2904 1728 1544

13292 0.79 271.1 231.5 10.5 644 13297 0.20 2.38 0.00 0.000 4 0.124 0.069 2839 3164 1539

13321 0.79 271.1 228.6 8.9 645 13325 0.00 2.28 0.00 0.000 6 0.000 0.053 2845 1734 1538

13637 1.00 297.9 207.6 6.2 660 13664 0.17 0.00 24.23 0.980 6 0.068 0.000 2921 1734 1435

13966 0.88 297.9 174.8 9.9 676 13968 0.20 0.00 0.00 0.000 6 0.125 0.000 2861 1734 1430

14276 1.10 344.5 157.2 5.5 691 14320 0.20 0.00 41.53 0.973 6 0.067 0.000 2942 1734 1245

14626 0.97 344.5 115.0 13.1 708 14631 0.20 2.33 0.00 0.000 4 0.125 0.068 2885 323 1237

14659 1.12 344.5 111.1 9.4 709 14666 0.12 2.38 0.00 0.000 6 0.074 0.058 2942 1752 1236

14995 1.03 344.5 72.5 11.4 755 15002 0.15 2.30 0.00 0.000 4 0.131 0.073 2898 3160 1234

15054 1.03 344.5 66.4 10.5 765 15060 0.00 2.28 0.00 0.000 6 0.000 0.056 2905 1731 1232

15398 1.14 378.9 33.7 5.9 826 15434 0.08 2.33 28.85 0.918 4 0.097 0.070 2954 325 1105

15464 1.10 378.9 28.5 8.5 837 15471 0.15 2.35 0.00 0.000 6 0.123 0.061 2912 1743 1102

15745 end climb: FINISH_DEPTH_REACHED

state 15745 begin subsurface finish

15753 0.07 56.1 7.0 -7.3 887 15806 0.65 2.33 -44.50 0.000 4 0.107 0.089 2682 3161 2423

15806 end subsurface finish: CONTROL_FINISHED_OK

state 15806 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	377	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	23	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	203720,6547.468,-5925.922,0,3077.7,0,-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	0.175,0.154
_SM_DEPTHo	3.65	KALMAN_X	170698.2,-150.0,353.2,-263726.5,-849.4
_SM_ANGLEo	-3.7	KALMAN_Y	-351614.0,434.7,504.7,231137.5,-393.6
GPS2	203720,6547.468,-5925.922,0,3077.7,0,-37.3	MHEAD_RNG_PITCHd_Wd	85.9,180482,-13.0,-7.021
SPEED_LIMITS	0.122,0.233	D_GRID	570

FREEZE	6.96,-1.807,-1.810	TCM_TEMP	15.00
FINISH1	7.0,1.026508,56	XPDR_PINGS	32
FINISH2	4.5	_24V_AH	22.0,63.688
RAFOS_CLK	715	_10V_AH	10.5,28.920
RAFOS	1,1227744845,0.250000,0.234722,66,58,56,52,52,49,215,188,204,148,125,230	DATA_FILE_SIZE	28417,896
RAFOS_FIX	6548.959961,-5935.561523,271108,000028,3,100,0.58	CAP_FILE_SIZE	116114,0
IRIDIUM_FIX	6548.42,-6024.58,170298,151550	CFSIZE	260165632,226578432
TT8_MAMPS	0.029146	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
HUMID	1798	SOUNDSPEED	1447.9
INTERNAL_PRESSURE	9.91249	GPS	271108,002328,6548.960,-5935.562,0,3100.3,0,-37.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	8	155	27.57	SBE_CT	626	24	330.99
Roll_motor	107	129	307.06	SBE_O2	0	0	0.00
VBD_pump_during_apogee	468	1213	12509.12	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	73.92
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	0	50	0.00
TT8	1631	19	341.29
LPSleep	11874	2	288.01
TT8_Active	585	19	122.39
TT8_Sampling	1563	39	655.52
TT8_CF8	218	45	105.20
TT8_Kalman	33	81	28.70
Analog_circuits	1439	12	181.44
GPS_charging	0	0	0.00
Compass	1554	8	130.60
RAFOS	2880	1	45.36
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
16	-0.99	-145.9	0.0	0.0	0	58	0.00	0.00	-40.03	0.000	2	0.000	0.000	2683	3160	3204
62	-0.99	-146.0	3.0	-1.6	7	69	0.62	0.75	-1.77	0.000	4	0.093	0.130	2462	3601	3247
99	-1.19	-146.0	6.2	-7.6	13	106	0.15	2.17	0.00	0.000	6	0.084	0.054	2406	2219	3249
444	-0.82	-146.0	50.8	-13.4	74	451	0.30	2.25	0.00	0.000	4	0.156	0.066	2501	814	3250
526	-0.74	-146.0	58.6	-8.8	88	533	0.10	2.35	0.00	0.000	6	0.150	0.069	2518	2240	3251
871	-0.74	-146.0	84.9	-7.9	149	877	0.00	2.33	0.00	0.000	4	0.000	0.067	2520	812	3251
900	-0.74	-146.0	87.4	-8.1	154	906	0.00	2.35	0.00	0.000	6	0.000	0.074	2512	2234	3251
1245	-0.74	-146.0	112.6	-6.4	191	1249	0.00	2.30	0.00	0.000	4	0.000	0.066	2512	818	3250
1336	-0.74	-146.0	118.9	-7.2	195	1340	0.00	2.35	0.00	0.000	6	0.000	0.070	2502	2245	3250
1669	-0.74	-146.0	139.9	-6.0	211	1670	0.00	0.00	0.00	0.000	6	0.000	0.000	2503	2245	3251
1980	-0.74	-146.0	157.3	-5.4	226	1981	0.00	0.00	0.00	0.000	6	0.000	0.000	2502	2245	3250
2288	-0.74	-146.0	174.8	-6.1	241	2291	0.00	2.33	0.00	0.000	4	0.000	0.067	2502	818	3250
2311	-0.74	-146.0	176.3	-6.2	242	2316	0.10	2.35	0.00	0.000	6	0.143	0.070	2518	2242	3250
2640	-0.85	-146.0	194.4	-5.8	258	2642	0.10	0.00	0.00	0.000	6	0.091	0.000	2477	2242	3250
2946	-0.85	-146.0	217.1	-7.4	273	2950	0.00	2.22	0.00	0.000	4	0.000	0.084	2466	3597	3249
3008	-0.80	-146.0	222.1	-7.9	275	3015	0.15	2.17	0.00	0.000	6	0.153	0.055	2506	2218	3250
3325	-0.89	-146.0	241.3	-5.9	291	3329	0.00	2.22	0.00	0.000	4	0.000	0.067	2506	823	3250
3375	-0.89	-146.0	244.5	-6.5	293	3379	0.00	2.33	0.00	0.000	6	0.000	0.068	2498	2235	3249
3703	-0.94	-146.0	265.5	-6.4	309	3705	0.10	0.00	0.00	0.000	6	0.089	0.000	2453	2235	3249
4012	-0.84	-146.0	289.8	-7.6	324	4017	0.17	2.33	0.00	0.000	4	0.150	0.067	2501	817	3249
4052	-0.89	-146.0	292.5	-6.1	326	4056	0.00	2.35	0.00	0.000	6	0.000	0.069	2493	2244	3249
4386	-0.95	-146.0	312.0	-5.9	342	4387	0.00	0.00	0.00	0.000	6	0.000	0.000	2493	2244	3249
4695	-1.01	-146.0	331.3	-6.5	357	4697	0.12	0.00	0.00	0.000	6	0.083	0.000	2440	2244	3249
5005	-0.88	-146.0	354.9	-7.4	372	5010	0.17	2.35	0.00	0.000	4	0.152	0.065	2488	816	3249
5033	-0.88	-146.0	356.9	-6.3	373	5037	0.00	2.35	0.00	0.000	6	0.000	0.067	2480	2240	3249
5354	-0.88	-146.0	374.4	-5.2	389	5355	0.00	0.00	0.00	0.000	6	0.000	0.000	2480	2240	3250
5663	-0.88	-146.0	391.3	-5.4	404	5668	0.00	2.33	0.00	0.000	4	0.000	0.066	2480	814	3250
5726	-0.88	-146.0	394.9	-5.7	406	5732	0.00	2.35	0.00	0.000	6	0.000	0.067	2470	2236	3250
6058	-0.88	-146.0	413.4	-5.4	417	6060	0.00	0.00	0.00	0.000	6	0.000	0.000	2470	2236	3251
6383	-0.88	-146.0	430.3	-5.1	425	6385	0.00	0.00	0.00	0.000	6	0.000	0.000	2470	2236	3251
6708	-0.88	-146.0	447.3	-5.4	433	6710	0.00	0.00	0.00	0.000	6	0.000	0.000	2470	2236	3251
7034	-0.88	-146.0	465.4	-5.7	441	7038	0.00	2.30	0.00	0.000	4	0.000	0.064	2470	818	3252
7080	-0.83	-146.0	468.3	-6.4	442	7085	0.15	2.35	0.00	0.000	6	0.134	0.066	2502	2247	3252
7405	-0.96	-146.0	483.9	-4.7	450	7407	0.12	0.00	0.00	0.000	6	0.084	0.000	2451	2246	3252
7730	-0.89	-146.0	504.0	-6.3	458	7732	0.12	0.00	0.00	0.000	6	0.152	0.000	2484	2246	3252
8055	-0.96	-146.0	521.4	-5.2	466	8058	0.00	2.20	0.00	0.000	4	0.000	0.078	2475	3599	3253
8111	-1.02	-146.0	524.6	-5.9	467	8115	0.00	2.15	0.00	0.000	6	0.000	0.049	2476	2216	3253
8430	-1.02	-146.0	542.0	-5.4	475	8434	0.00	2.22	0.00	0.000	4	0.000	0.063	2475	812	3253
8469	-1.02	-146.0	544.3	-5.1	475	8476	0.00	2.33	0.00	0.000	6	0.000	0.064	2466	2238	3253
8801	-1.02	-146.0	563.0	-5.9	484	8802	0.00	0.00	0.00	0.000	6	0.000	0.000	2465	2239	3253
8920	end dive: TARGET_DEPTH_EXCEEDED
state	8920	begin apogee
8927	-0.31	0.0	570.4	6.1	487	9057	0.47	0.00	127.20	1.213	6	0.122	0.000	2616	1734	2650
9058	end apogee: CONTROL_FINISHED_OK
state	9058	begin climb
9061	0.99	146.0	572.2	0.0	490	9197	0.90	0.00	132.32	1.137	6	0.091	0.000	2902	1734	2055
9492	0.73	146.0	528.1	11.4	501	9494	0.22	0.00	0.00	0.000	6	0.131	0.000	2839	1734	2047
9814	0.73	146.0	502.0	7.9	509	9818	0.00	2.38	0.00	0.000	4	0.000	0.071	2839	3158	2046
9860	0.58	146.0	497.8	9.7	510	9865	0.17	2.30	0.00	0.000	6	0.129	0.054	2797	1725	2045
10185	0.75	174.8	477.5	6.1	518	10215	0.15	2.40	24.27	1.115	4	0.067	0.069	2866	3159	1937
10238	0.57	174.8	472.6	10.6	519	10243	0.25	2.30	0.00	0.000	6	0.131	0.051	2805	1730	1936
10552	0.77	202.8	452.5	6.1	527	10579	0.15	0.00	25.17	1.104	6	0.067	0.000	2871	1730	1823
10877	0.67	202.8	420.9	9.9	535	10882	0.17	2.35	0.00	0.000	4	0.123	0.068	2819	3159	1818
10904	0.67	202.8	418.4	8.1	535	10908	0.00	2.28	0.00	0.000	6	0.000	0.052	2826	1724	1817
11221	0.76	205.5	396.2	6.9	544	11225	0.00	2.35	0.00	0.000	4	0.000	0.068	2826	3166	1817
11245	0.80	205.5	394.5	7.6	545	11249	0.00	2.25	0.00	0.000	6	0.000	0.051	2835	1733	1817
11578	0.86	211.3	370.8	6.8	561	11588	0.12	0.00	7.93	0.953	6	0.077	0.000	2893	1733	1788
11887	0.71	211.3	339.6	10.4	576	11892	0.20	2.33	0.00	0.000	4	0.123	0.068	2827	3156	1787
11931	0.71	211.3	335.8	7.6	578	11935	0.00	2.25	0.00	0.000	6	0.000	0.052	2834	1730	1786
12260	0.80	222.9	313.7	6.6	594	12278	0.00	0.00	11.52	0.989	6	0.000	0.000	2834	1729	1741
12589	0.93	241.3	291.9	6.4	610	12612	0.15	2.42	17.83	1.014	4	0.072	0.068	2900	3152	1666
12641	0.69	241.3	286.5	11.4	612	12646	0.28	2.28	0.00	0.000	6	0.132	0.051	2829	1728	1664
12962	0.91	271.1	266.0	6.1	628	12992	0.17	0.00	27.75	1.011	6	0.067	0.000	2904	1728	1544
13292	0.79	271.1	231.5	10.5	644	13297	0.20	2.38	0.00	0.000	4	0.124	0.069	2839	3164	1539
13321	0.79	271.1	228.6	8.9	645	13325	0.00	2.28	0.00	0.000	6	0.000	0.053	2845	1734	1538
13637	1.00	297.9	207.6	6.2	660	13664	0.17	0.00	24.23	0.980	6	0.068	0.000	2921	1734	1435
13966	0.88	297.9	174.8	9.9	676	13968	0.20	0.00	0.00	0.000	6	0.125	0.000	2861	1734	1430
14276	1.10	344.5	157.2	5.5	691	14320	0.20	0.00	41.53	0.973	6	0.067	0.000	2942	1734	1245
14626	0.97	344.5	115.0	13.1	708	14631	0.20	2.33	0.00	0.000	4	0.125	0.068	2885	323	1237
14659	1.12	344.5	111.1	9.4	709	14666	0.12	2.38	0.00	0.000	6	0.074	0.058	2942	1752	1236
14995	1.03	344.5	72.5	11.4	755	15002	0.15	2.30	0.00	0.000	4	0.131	0.073	2898	3160	1234
15054	1.03	344.5	66.4	10.5	765	15060	0.00	2.28	0.00	0.000	6	0.000	0.056	2905	1731	1232
15398	1.14	378.9	33.7	5.9	826	15434	0.08	2.33	28.85	0.918	4	0.097	0.070	2954	325	1105
15464	1.10	378.9	28.5	8.5	837	15471	0.15	2.35	0.00	0.000	6	0.123	0.061	2912	1743	1102
15745	end climb: FINISH_DEPTH_REACHED
state	15745	begin subsurface finish
15753	0.07	56.1	7.0	-7.3	887	15806	0.65	2.33	-44.50	0.000	4	0.107	0.089	2682	3161	2423
15806	end subsurface finish: CONTROL_FINISHED_OK
state	15806	begin surface