Glider dive log

DavisStrait Sep08 * SG108 * Dive index * Mission links * Dive 398 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 108 HEADING 70 PITCH_ADJ_DBAND 1 ALTIM_TOP_TURN_MARGIN 5

MISSION 11 ESCAPE_HEADING 80 ROLL_MIN 294 ALTIM_TOP_MIN_OBSTACLE 1.8

DIVE 398 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 27 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 -3 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 -119640.95 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 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 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 -119640.95

CAPMAXSIZE 100000 HD_C 2.7999999e-06 RHO 1.02765 T_MISSION 550

CAPUPLOAD 0 HEADING 70 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 2

C_ROLL_DIVE 2230 MASS 51779 R_PORT_OVSHOOT 27 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 398 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 114038,6539.845,-5820.662,60,0.8,60,-36.1 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG 6543.494,-5755.992

_XMS_NAKs 16 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.155,0.175

_SM_DEPTHo 2.45 KALMAN_X 170654.5,-869.2,266.8,-260885.9,-589.8

_SM_ANGLEo -65.5 KALMAN_Y -355053.3,2216.7,1768.4,233643.6,-9091.2

GPS2 115439,6539.800,-5820.676,10,1.6,10,-36.1 MHEAD_RNG_PITCHd_Wd 106.1,20000,-13.0,-7.021

SPEED_LIMITS 0.122,0.233 D_GRID 491

Post-dive calculations and measurements:

FREEZE 1.60,-0.229,-0.200 TCM_TEMP 15.30

FINISH 1.6,1.002775 XPDR_PINGS 34

SM_CCo 14266,0.00,0.000,0,0,1405,305.40 _24V_AH 22.1,66.331

SM_GC 2.43,6.97,0.00,0.00,0.052,0.000,0.000,336,2248,1405,-10.67,0.51,305.40 _10V_AH 10.5,30.067

RAFOS_CLK 603 DATA_FILE_SIZE 28393,887

RAFOS 0,1228046643,12.083333,12.067500,60,60,56,54,53,51,190,211,117,178,105,144 CAP_FILE_SIZE 133597,0

RAFOS_FIX -31200.181641,336923.250000,301108,080856,2,74,15226.59 CFSIZE 260165632,225390592

IRIDIUM_FIX 6512.01,-5821.84,240298,030335 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TT8_MAMPS 0.026845 SOUNDSPEED 1451.7

HUMID 1811 GPS 301108,155428,6541.285,-5816.878,38,2.8,57,-36.1

INTERNAL_PRESSURE 9.86366

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 22 250 121.57 SBE_CT 619 24 328.65

Roll_motor 134 82 246.59 SBE_O2 0 0 0.00

VBD_pump_during_apogee 396 1153 10111.50 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 33 103 75.47 nil 0 0 0.00

Iridium_during_connect 29 160 105.96 nil 0 0 0.00

Iridium_during_xfer 508 223 2506.93

Transponder_ping 8 420 78.90

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 12 50 6.44

TT8 1622 19 339.35

LPSleep 10328 2 250.51

TT8_Active 531 19 111.07

TT8_Sampling 1622 39 680.28

TT8_CF8 998 45 481.65

TT8_Kalman 0 81 0.00

Analog_circuits 1425 12 179.57

GPS_charging 0 0 0.00

Compass 1598 8 134.26

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

13 end surface: CONTROL_FINISHED_OK

state 13 begin dive

16 -0.99 -146.0 0.0 0.0 0 86 0.00 0.00 -67.03 0.000 2 0.000 0.000 329 2241 2754

90 -0.99 -146.0 3.1 -1.6 12 126 8.90 2.40 -19.75 0.000 4 0.250 0.077 2467 812 3248

236 -0.77 -146.0 17.9 -10.6 37 243 0.20 2.35 0.00 0.000 6 0.137 0.064 2516 2237 3252

582 -0.77 -146.0 45.3 -6.9 98 588 0.00 2.22 0.00 0.000 4 0.000 0.077 2507 3596 3253

651 -0.77 -146.0 50.5 -7.6 110 657 0.00 2.17 0.00 0.000 6 0.000 0.051 2508 2216 3252

996 -0.77 -146.0 70.8 -5.8 171 1002 0.00 2.22 0.00 0.000 4 0.000 0.063 2508 819 3252

1143 -0.77 -146.0 81.1 -7.4 197 1151 0.00 2.33 0.00 0.000 6 0.000 0.065 2499 2240 3252

1493 -0.77 -146.0 106.3 -7.2 248 1496 0.00 2.33 0.00 0.000 4 0.000 0.064 2499 812 3253

1504 -0.77 -146.0 107.2 -7.3 248 1509 0.10 2.35 0.00 0.000 6 0.143 0.064 2515 2240 3253

1822 -0.85 -146.0 128.8 -6.9 263 1826 0.00 2.22 0.00 0.000 4 0.000 0.079 2507 3603 3252

1856 -0.93 -146.0 131.5 -7.3 264 1861 0.12 2.17 0.00 0.000 6 0.086 0.051 2454 2215 3252

2174 -0.80 -146.0 158.4 -8.2 279 2178 0.20 2.22 0.00 0.000 4 0.137 0.064 2526 817 3252

2214 -0.91 -146.0 161.2 -6.1 280 2220 0.12 2.35 0.00 0.000 6 0.078 0.066 2463 2246 3252

2530 -0.83 -146.0 185.1 -7.4 296 2532 0.15 0.00 0.00 0.000 6 0.143 0.000 2505 2246 3251

2839 -0.91 -146.0 200.5 -4.8 311 2843 0.10 2.22 0.00 0.000 4 0.094 0.083 2453 3603 3251

2863 -0.91 -146.0 202.0 -6.3 312 2867 0.12 2.17 0.00 0.000 6 0.153 0.053 2485 2214 3251

3196 -0.91 -146.0 221.4 -6.1 328 3199 0.00 2.22 0.00 0.000 4 0.000 0.064 2485 814 3250

3229 -0.91 -146.0 223.7 -7.1 329 3233 0.00 2.33 0.00 0.000 6 0.000 0.065 2477 2239 3250

3547 -0.91 -146.0 243.5 -6.2 344 3551 0.00 2.30 0.00 0.000 4 0.000 0.065 2477 818 3250

3593 -0.87 -146.0 246.7 -6.8 346 3598 0.10 2.33 0.00 0.000 6 0.143 0.066 2493 2242 3250

3922 -0.93 -146.0 265.0 -5.6 362 3926 0.00 2.30 0.00 0.000 4 0.000 0.064 2494 820 3250

4024 -0.93 -146.0 271.1 -6.1 366 4028 0.00 2.33 0.00 0.000 6 0.000 0.065 2486 2244 3250

4345 -0.93 -146.0 290.0 -5.8 382 4349 0.00 2.30 0.00 0.000 4 0.000 0.064 2486 817 3250

4413 -0.93 -146.0 294.1 -5.8 385 4417 0.00 2.33 0.00 0.000 6 0.000 0.064 2476 2244 3250

4746 -0.93 -146.0 314.2 -6.2 401 4747 0.00 0.00 0.00 0.000 6 0.000 0.000 2476 2244 3250

5055 -0.93 -146.0 332.0 -5.6 416 5059 0.00 2.30 0.00 0.000 4 0.000 0.062 2476 816 3251

5094 -0.93 -146.0 334.4 -6.0 417 5101 0.00 2.33 0.00 0.000 6 0.000 0.063 2466 2246 3251

5413 -0.93 -146.0 351.5 -5.4 433 5414 0.00 0.00 0.00 0.000 6 0.000 0.000 2466 2246 3252

5720 -0.93 -146.0 368.2 -5.3 448 5723 0.00 2.17 0.00 0.000 4 0.000 0.075 2456 3597 3253

5731 -0.93 -146.0 368.8 -5.3 448 5736 0.10 2.12 0.00 0.000 6 0.153 0.048 2481 2217 3253

6052 -0.93 -146.0 384.8 -5.1 464 6054 0.00 0.00 0.00 0.000 6 0.000 0.000 2481 2217 3253

6381 -0.93 -146.0 402.7 -5.4 479 6385 0.00 2.20 0.00 0.000 4 0.000 0.061 2481 819 3254

6427 -0.93 -146.0 405.4 -5.7 480 6431 0.00 2.30 0.00 0.000 6 0.000 0.061 2473 2234 3254

6758 -0.93 -146.0 425.5 -6.0 488 6762 0.00 2.25 0.00 0.000 4 0.000 0.059 2473 825 3254

6798 -0.88 -146.0 428.0 -6.7 488 6805 0.10 2.30 0.00 0.000 6 0.140 0.061 2489 2236 3254

7130 -0.95 -146.0 445.8 -5.4 497 7134 0.00 2.28 0.00 0.000 4 0.000 0.060 2490 825 3254

7152 -0.95 -146.0 447.2 -5.5 497 7156 0.00 2.33 0.00 0.000 6 0.000 0.061 2482 2242 3254

7501 -0.95 -146.0 466.8 -5.5 506 7502 0.00 0.00 0.00 0.000 6 0.000 0.000 2482 2242 3254

7826 -1.01 -146.0 483.5 -5.1 514 7830 0.00 2.28 0.00 0.000 4 0.000 0.061 2482 829 3254

7838 -1.01 -146.0 484.3 -5.2 514 7841 0.00 2.30 0.00 0.000 6 0.000 0.061 2472 2241 3254

7992 end dive: TARGET_DEPTH_EXCEEDED

state 7993 begin apogee

8000 -0.31 0.0 492.8 5.4 518 8129 0.45 0.00 126.03 1.154 6 0.119 0.000 2616 1734 2650

8130 end apogee: CONTROL_FINISHED_OK

state 8130 begin climb

8133 0.99 146.0 494.2 0.0 521 8270 0.85 2.60 130.07 1.077 4 0.090 0.065 2894 3152 2054

8316 0.67 146.0 477.4 12.9 525 8321 0.30 2.45 0.00 0.000 6 0.133 0.049 2824 1734 2049

8663 0.67 146.0 451.2 7.1 534 8665 0.00 0.00 0.00 0.000 6 0.000 0.000 2824 1734 2046

8989 0.72 151.6 428.4 6.8 542 8998 0.00 2.38 4.53 0.760 4 0.000 0.067 2824 3161 2032

9028 0.68 151.6 425.5 8.0 542 9034 0.00 2.28 0.00 0.000 6 0.000 0.051 2832 1731 2032

9360 0.68 151.6 401.5 7.2 551 9361 0.00 0.00 0.00 0.000 6 0.000 0.000 2832 1730 2032

9668 0.69 159.0 379.9 6.8 565 9682 0.00 2.38 8.12 0.946 4 0.000 0.068 2832 3157 2001

9717 0.60 159.0 376.2 7.9 567 9722 0.12 2.25 0.00 0.000 6 0.133 0.051 2807 1730 2000

10044 0.81 199.1 357.3 5.7 583 10084 0.17 0.00 35.85 1.064 6 0.066 0.000 2884 1730 1838

10394 0.68 199.1 321.8 10.6 600 10396 0.20 0.00 0.00 0.000 6 0.123 0.000 2824 1730 1831

10703 0.78 199.7 299.6 7.0 615 10708 0.10 2.38 0.00 0.000 4 0.080 0.066 2870 3151 1829

10736 0.63 199.7 296.3 10.1 616 10743 0.22 2.25 0.00 0.000 6 0.127 0.050 2813 1735 1828

11053 0.81 200.8 274.2 7.0 632 11058 0.15 2.30 0.00 0.000 4 0.069 0.065 2886 324 1828

11093 0.74 200.8 270.2 11.3 634 11098 0.17 2.33 0.00 0.000 6 0.123 0.055 2834 1744 1828

11421 0.83 200.8 244.8 7.7 650 11425 0.10 2.28 0.00 0.000 4 0.082 0.067 2881 3156 1827

11516 0.64 200.8 234.0 12.0 654 11521 0.25 2.25 0.00 0.000 6 0.127 0.051 2817 1727 1827

11832 0.84 214.8 212.7 6.6 669 11852 0.15 0.00 13.23 0.934 6 0.068 0.000 2885 1727 1774

12162 0.77 214.8 181.7 9.4 685 12167 0.15 2.35 0.00 0.000 4 0.122 0.066 2840 3165 1772

12189 0.77 214.8 179.2 7.9 686 12193 0.00 2.25 0.00 0.000 6 0.000 0.051 2848 1731 1771

12511 0.88 225.8 157.4 6.7 702 12527 0.08 2.28 10.98 0.890 4 0.097 0.065 2900 333 1728

12567 0.82 225.8 152.4 8.9 703 12574 0.17 2.33 0.00 0.000 6 0.127 0.054 2849 1755 1728

12884 1.04 283.8 133.6 5.2 719 12942 0.17 2.35 51.97 0.935 4 0.067 0.068 2924 3161 1492

12970 0.83 283.8 125.5 10.9 722 12976 0.28 2.33 0.00 0.000 6 0.130 0.051 2854 1734 1487

13292 1.16 302.6 105.1 6.4 738 13315 0.22 2.33 15.85 0.879 4 0.084 0.067 2938 323 1416

13340 1.33 302.6 101.0 8.8 740 13345 0.12 2.35 0.00 0.000 6 0.082 0.056 2988 1749 1415

13683 1.06 302.6 50.8 15.0 799 13690 0.25 2.30 0.00 0.000 4 0.136 0.071 2910 3161 1411

13754 0.99 302.6 43.1 10.0 811 13760 0.00 2.28 0.00 0.000 6 0.000 0.054 2916 1731 1409

14098 0.99 302.6 10.5 10.4 872 14104 0.00 2.28 0.00 0.000 4 0.000 0.069 2926 330 1407

14152 1.05 302.6 5.3 9.6 881 14158 0.00 2.30 0.00 0.000 6 0.000 0.058 2926 1748 1407

14174 end climb: SURFACE_DEPTH_REACHED

state 14174 begin surface coast

14187 end surface coast: FINISH_DEPTH_REACHED

state 14187 begin surface

ID	108	HEADING	70	PITCH_ADJ_DBAND	1	ALTIM_TOP_TURN_MARGIN	5
MISSION	11	ESCAPE_HEADING	80	ROLL_MIN	294	ALTIM_TOP_MIN_OBSTACLE	1.8
DIVE	398	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	27	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	-3	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	-119640.95	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	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	114038,6539.845,-5820.662,60,0.8,60,-36.1	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	6543.494,-5755.992
_XMS_NAKs	16	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.155,0.175
_SM_DEPTHo	2.45	KALMAN_X	170654.5,-869.2,266.8,-260885.9,-589.8
_SM_ANGLEo	-65.5	KALMAN_Y	-355053.3,2216.7,1768.4,233643.6,-9091.2
GPS2	115439,6539.800,-5820.676,10,1.6,10,-36.1	MHEAD_RNG_PITCHd_Wd	106.1,20000,-13.0,-7.021
SPEED_LIMITS	0.122,0.233	D_GRID	491

FREEZE	1.60,-0.229,-0.200	TCM_TEMP	15.30
FINISH	1.6,1.002775	XPDR_PINGS	34
SM_CCo	14266,0.00,0.000,0,0,1405,305.40	_24V_AH	22.1,66.331
SM_GC	2.43,6.97,0.00,0.00,0.052,0.000,0.000,336,2248,1405,-10.67,0.51,305.40	_10V_AH	10.5,30.067
RAFOS_CLK	603	DATA_FILE_SIZE	28393,887
RAFOS	0,1228046643,12.083333,12.067500,60,60,56,54,53,51,190,211,117,178,105,144	CAP_FILE_SIZE	133597,0
RAFOS_FIX	-31200.181641,336923.250000,301108,080856,2,74,15226.59	CFSIZE	260165632,225390592
IRIDIUM_FIX	6512.01,-5821.84,240298,030335	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TT8_MAMPS	0.026845	SOUNDSPEED	1451.7
HUMID	1811	GPS	301108,155428,6541.285,-5816.878,38,2.8,57,-36.1
INTERNAL_PRESSURE	9.86366

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	22	250	121.57	SBE_CT	619	24	328.65
Roll_motor	134	82	246.59	SBE_O2	0	0	0.00
VBD_pump_during_apogee	396	1153	10111.50	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	33	103	75.47	nil	0	0	0.00
Iridium_during_connect	29	160	105.96	nil	0	0	0.00
Iridium_during_xfer	508	223	2506.93
Transponder_ping	8	420	78.90
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	12	50	6.44
TT8	1622	19	339.35
LPSleep	10328	2	250.51
TT8_Active	531	19	111.07
TT8_Sampling	1622	39	680.28
TT8_CF8	998	45	481.65
TT8_Kalman	0	81	0.00
Analog_circuits	1425	12	179.57
GPS_charging	0	0	0.00
Compass	1598	8	134.26
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
13	end surface: CONTROL_FINISHED_OK
state	13	begin dive
16	-0.99	-146.0	0.0	0.0	0	86	0.00	0.00	-67.03	0.000	2	0.000	0.000	329	2241	2754
90	-0.99	-146.0	3.1	-1.6	12	126	8.90	2.40	-19.75	0.000	4	0.250	0.077	2467	812	3248
236	-0.77	-146.0	17.9	-10.6	37	243	0.20	2.35	0.00	0.000	6	0.137	0.064	2516	2237	3252
582	-0.77	-146.0	45.3	-6.9	98	588	0.00	2.22	0.00	0.000	4	0.000	0.077	2507	3596	3253
651	-0.77	-146.0	50.5	-7.6	110	657	0.00	2.17	0.00	0.000	6	0.000	0.051	2508	2216	3252
996	-0.77	-146.0	70.8	-5.8	171	1002	0.00	2.22	0.00	0.000	4	0.000	0.063	2508	819	3252
1143	-0.77	-146.0	81.1	-7.4	197	1151	0.00	2.33	0.00	0.000	6	0.000	0.065	2499	2240	3252
1493	-0.77	-146.0	106.3	-7.2	248	1496	0.00	2.33	0.00	0.000	4	0.000	0.064	2499	812	3253
1504	-0.77	-146.0	107.2	-7.3	248	1509	0.10	2.35	0.00	0.000	6	0.143	0.064	2515	2240	3253
1822	-0.85	-146.0	128.8	-6.9	263	1826	0.00	2.22	0.00	0.000	4	0.000	0.079	2507	3603	3252
1856	-0.93	-146.0	131.5	-7.3	264	1861	0.12	2.17	0.00	0.000	6	0.086	0.051	2454	2215	3252
2174	-0.80	-146.0	158.4	-8.2	279	2178	0.20	2.22	0.00	0.000	4	0.137	0.064	2526	817	3252
2214	-0.91	-146.0	161.2	-6.1	280	2220	0.12	2.35	0.00	0.000	6	0.078	0.066	2463	2246	3252
2530	-0.83	-146.0	185.1	-7.4	296	2532	0.15	0.00	0.00	0.000	6	0.143	0.000	2505	2246	3251
2839	-0.91	-146.0	200.5	-4.8	311	2843	0.10	2.22	0.00	0.000	4	0.094	0.083	2453	3603	3251
2863	-0.91	-146.0	202.0	-6.3	312	2867	0.12	2.17	0.00	0.000	6	0.153	0.053	2485	2214	3251
3196	-0.91	-146.0	221.4	-6.1	328	3199	0.00	2.22	0.00	0.000	4	0.000	0.064	2485	814	3250
3229	-0.91	-146.0	223.7	-7.1	329	3233	0.00	2.33	0.00	0.000	6	0.000	0.065	2477	2239	3250
3547	-0.91	-146.0	243.5	-6.2	344	3551	0.00	2.30	0.00	0.000	4	0.000	0.065	2477	818	3250
3593	-0.87	-146.0	246.7	-6.8	346	3598	0.10	2.33	0.00	0.000	6	0.143	0.066	2493	2242	3250
3922	-0.93	-146.0	265.0	-5.6	362	3926	0.00	2.30	0.00	0.000	4	0.000	0.064	2494	820	3250
4024	-0.93	-146.0	271.1	-6.1	366	4028	0.00	2.33	0.00	0.000	6	0.000	0.065	2486	2244	3250
4345	-0.93	-146.0	290.0	-5.8	382	4349	0.00	2.30	0.00	0.000	4	0.000	0.064	2486	817	3250
4413	-0.93	-146.0	294.1	-5.8	385	4417	0.00	2.33	0.00	0.000	6	0.000	0.064	2476	2244	3250
4746	-0.93	-146.0	314.2	-6.2	401	4747	0.00	0.00	0.00	0.000	6	0.000	0.000	2476	2244	3250
5055	-0.93	-146.0	332.0	-5.6	416	5059	0.00	2.30	0.00	0.000	4	0.000	0.062	2476	816	3251
5094	-0.93	-146.0	334.4	-6.0	417	5101	0.00	2.33	0.00	0.000	6	0.000	0.063	2466	2246	3251
5413	-0.93	-146.0	351.5	-5.4	433	5414	0.00	0.00	0.00	0.000	6	0.000	0.000	2466	2246	3252
5720	-0.93	-146.0	368.2	-5.3	448	5723	0.00	2.17	0.00	0.000	4	0.000	0.075	2456	3597	3253
5731	-0.93	-146.0	368.8	-5.3	448	5736	0.10	2.12	0.00	0.000	6	0.153	0.048	2481	2217	3253
6052	-0.93	-146.0	384.8	-5.1	464	6054	0.00	0.00	0.00	0.000	6	0.000	0.000	2481	2217	3253
6381	-0.93	-146.0	402.7	-5.4	479	6385	0.00	2.20	0.00	0.000	4	0.000	0.061	2481	819	3254
6427	-0.93	-146.0	405.4	-5.7	480	6431	0.00	2.30	0.00	0.000	6	0.000	0.061	2473	2234	3254
6758	-0.93	-146.0	425.5	-6.0	488	6762	0.00	2.25	0.00	0.000	4	0.000	0.059	2473	825	3254
6798	-0.88	-146.0	428.0	-6.7	488	6805	0.10	2.30	0.00	0.000	6	0.140	0.061	2489	2236	3254
7130	-0.95	-146.0	445.8	-5.4	497	7134	0.00	2.28	0.00	0.000	4	0.000	0.060	2490	825	3254
7152	-0.95	-146.0	447.2	-5.5	497	7156	0.00	2.33	0.00	0.000	6	0.000	0.061	2482	2242	3254
7501	-0.95	-146.0	466.8	-5.5	506	7502	0.00	0.00	0.00	0.000	6	0.000	0.000	2482	2242	3254
7826	-1.01	-146.0	483.5	-5.1	514	7830	0.00	2.28	0.00	0.000	4	0.000	0.061	2482	829	3254
7838	-1.01	-146.0	484.3	-5.2	514	7841	0.00	2.30	0.00	0.000	6	0.000	0.061	2472	2241	3254
7992	end dive: TARGET_DEPTH_EXCEEDED
state	7993	begin apogee
8000	-0.31	0.0	492.8	5.4	518	8129	0.45	0.00	126.03	1.154	6	0.119	0.000	2616	1734	2650
8130	end apogee: CONTROL_FINISHED_OK
state	8130	begin climb
8133	0.99	146.0	494.2	0.0	521	8270	0.85	2.60	130.07	1.077	4	0.090	0.065	2894	3152	2054
8316	0.67	146.0	477.4	12.9	525	8321	0.30	2.45	0.00	0.000	6	0.133	0.049	2824	1734	2049
8663	0.67	146.0	451.2	7.1	534	8665	0.00	0.00	0.00	0.000	6	0.000	0.000	2824	1734	2046
8989	0.72	151.6	428.4	6.8	542	8998	0.00	2.38	4.53	0.760	4	0.000	0.067	2824	3161	2032
9028	0.68	151.6	425.5	8.0	542	9034	0.00	2.28	0.00	0.000	6	0.000	0.051	2832	1731	2032
9360	0.68	151.6	401.5	7.2	551	9361	0.00	0.00	0.00	0.000	6	0.000	0.000	2832	1730	2032
9668	0.69	159.0	379.9	6.8	565	9682	0.00	2.38	8.12	0.946	4	0.000	0.068	2832	3157	2001
9717	0.60	159.0	376.2	7.9	567	9722	0.12	2.25	0.00	0.000	6	0.133	0.051	2807	1730	2000
10044	0.81	199.1	357.3	5.7	583	10084	0.17	0.00	35.85	1.064	6	0.066	0.000	2884	1730	1838
10394	0.68	199.1	321.8	10.6	600	10396	0.20	0.00	0.00	0.000	6	0.123	0.000	2824	1730	1831
10703	0.78	199.7	299.6	7.0	615	10708	0.10	2.38	0.00	0.000	4	0.080	0.066	2870	3151	1829
10736	0.63	199.7	296.3	10.1	616	10743	0.22	2.25	0.00	0.000	6	0.127	0.050	2813	1735	1828
11053	0.81	200.8	274.2	7.0	632	11058	0.15	2.30	0.00	0.000	4	0.069	0.065	2886	324	1828
11093	0.74	200.8	270.2	11.3	634	11098	0.17	2.33	0.00	0.000	6	0.123	0.055	2834	1744	1828
11421	0.83	200.8	244.8	7.7	650	11425	0.10	2.28	0.00	0.000	4	0.082	0.067	2881	3156	1827
11516	0.64	200.8	234.0	12.0	654	11521	0.25	2.25	0.00	0.000	6	0.127	0.051	2817	1727	1827
11832	0.84	214.8	212.7	6.6	669	11852	0.15	0.00	13.23	0.934	6	0.068	0.000	2885	1727	1774
12162	0.77	214.8	181.7	9.4	685	12167	0.15	2.35	0.00	0.000	4	0.122	0.066	2840	3165	1772
12189	0.77	214.8	179.2	7.9	686	12193	0.00	2.25	0.00	0.000	6	0.000	0.051	2848	1731	1771
12511	0.88	225.8	157.4	6.7	702	12527	0.08	2.28	10.98	0.890	4	0.097	0.065	2900	333	1728
12567	0.82	225.8	152.4	8.9	703	12574	0.17	2.33	0.00	0.000	6	0.127	0.054	2849	1755	1728
12884	1.04	283.8	133.6	5.2	719	12942	0.17	2.35	51.97	0.935	4	0.067	0.068	2924	3161	1492
12970	0.83	283.8	125.5	10.9	722	12976	0.28	2.33	0.00	0.000	6	0.130	0.051	2854	1734	1487
13292	1.16	302.6	105.1	6.4	738	13315	0.22	2.33	15.85	0.879	4	0.084	0.067	2938	323	1416
13340	1.33	302.6	101.0	8.8	740	13345	0.12	2.35	0.00	0.000	6	0.082	0.056	2988	1749	1415
13683	1.06	302.6	50.8	15.0	799	13690	0.25	2.30	0.00	0.000	4	0.136	0.071	2910	3161	1411
13754	0.99	302.6	43.1	10.0	811	13760	0.00	2.28	0.00	0.000	6	0.000	0.054	2916	1731	1409
14098	0.99	302.6	10.5	10.4	872	14104	0.00	2.28	0.00	0.000	4	0.000	0.069	2926	330	1407
14152	1.05	302.6	5.3	9.6	881	14158	0.00	2.30	0.00	0.000	6	0.000	0.058	2926	1748	1407
14174	end climb: SURFACE_DEPTH_REACHED
state	14174	begin surface coast
14187	end surface coast: FINISH_DEPTH_REACHED
state	14187	begin surface