Glider dive log

NAB Apr08 * SG143 * Dive index * Mission links * Dive 119 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 143 HD_C 9.8541004e-06 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0

MISSION 4 HEADING 135 PITCH_ADJ_GAIN 0.02 ALTIM_BOTTOM_TURN_MARGIN 0

DIVE 119 ESCAPE_HEADING 0 PITCH_ADJ_DBAND 2 ALTIM_TOP_TURN_MARGIN 0

D_SURF 2 ESCAPE_HEADING_DELTA 10 ROLL_MIN 182 ALTIM_TOP_MIN_OBSTACLE 0

D_FLARE 3 FIX_MISSING_TIMEOUT 0 ROLL_MAX 3816 ALTIM_PING_DEPTH 0

D_TGT 990 TGT_DEFAULT_LAT -2030 ROLL_DEG 40 ALTIM_PING_DELTA 0

D_ABORT 1040 TGT_DEFAULT_LON 5900 C_ROLL_DIVE 2295 ALTIM_FREQUENCY 13

D_NO_BLEED 350 TGT_AUTO_DEFAULT 0 C_ROLL_CLIMB 2050 ALTIM_PULSE 3

D_FINISH 0 SM_CC 200 HEAD_ERRBAND 15 ALTIM_SENSITIVITY 3

D_PITCH 0 N_FILEKB 8 ROLL_CNV 0.028270001 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 FILEMGR 0 ROLL_TIMEOUT 15 INT_PRESSURE_YINT 0

D_CALL 0 CALL_NDIVES 1 R_PORT_OVSHOOT 16 DEEPGLIDER 0

SURFACE_URGENCY 0 COMM_SEQ 0 R_STBD_OVSHOOT 14 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 KERMIT 0 ROLL_AD_RATE 250 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 N_NOCOMM 1 ROLL_MAXERRORS 1 DEVICE1 2

T_DIVE 330 N_NOSURFACE 0 ROLL_ADJ_GAIN 3 DEVICE2 20

T_MISSION 360 UPLOAD_DIVES_MAX -1 ROLL_ADJ_DBAND 0.029999999 DEVICE3 53

T_ABORT 720 CALL_TRIES 5 VBD_MIN 490 DEVICE4 35

T_TURN 270 CALL_WAIT 60 VBD_MAX 3964 DEVICE5 87

T_TURN_SAMPINT 5 CAPUPLOAD 0 C_VBD 3071 DEVICE6 -1

T_NO_W 120 CAPMAXSIZE 100000 VBD_DBAND 2 SMARTS 0

USE_BATHY 0 HEAPDBG 0 VBD_CNV -0.24529999 SMARTDEVICE1 -1

USE_ICE 0 T_GPS 15 VBD_TIMEOUT 720 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.30000001 N_GPS 20 PITCH_VBD_SHIFT 0.0012300001 COMPASS_DEVICE 33

D_OFFGRID 100 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_SURFACE 4 PHONE_DEVICE 48

T_WATCHDOG 10 T_GPS_CHARGE -7356.1919 VBD_PUMP_AD_RATE_APOGEE 3 GPS_DEVICE 32

RELAUNCH 1 T_RSLEEP 3 VBD_BLEED_AD_RATE 8 RAFOS_DEVICE -1

APOGEE_PITCH -5 RAFOS_PEAK_OFFSET 1.5 UNCOM_BLEED 20 XPDR_DEVICE 24

MAX_BUOY 200 RAFOS_CORR_THRESH 60 VBD_MAXERRORS 1 SIM_W 0

COURSE_BIAS 0 RAFOS_HIT_WINDOW 3600 CF8_MAXERRORS 20 SIM_PITCH 0

GLIDE_SLOPE 30 PITCH_MIN 1469 AH0_24V 150 SEABIRD_T_G 0.0043273759

SPEED_FACTOR 1 PITCH_MAX 4022 AH0_10V 100 SEABIRD_T_H 0.00064184016

RHO 1.0273 C_PITCH 2800 PRESSURE_YINT -13.47135 SEABIRD_T_I 2.4188148e-05

MASS 51457 PITCH_DBAND 0.1 PRESSURE_SLOPE 9.1530041e-05 SEABIRD_T_J 2.4070987e-06

NAV_MODE 0 PITCH_CNV 0.0046000001 AD7714Ch0Gain 64 SEABIRD_C_G -10.197048

FERRY_MAX 45 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1695373

KALMAN_USE 2 PITCH_GAIN 27 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0015330453

HD_A 0.0038360001 PITCH_TIMEOUT 15 COMPASS_USE 0 SEABIRD_C_J 0.00015523176

HD_B 0.010078 PITCH_AD_RATE 100 ALTIM_BOTTOM_PING_RANGE 0

AD7714Ch0Gain 64 D_FINISH 0 PITCH_AD_RATE 100 SMARTDEVICE1 -1

AH0_10V 100 D_FLARE 3 PITCH_CNV 0.0046000001 SMARTDEVICE2 -1

AH0_24V 150 D_NO_BLEED 350 PITCH_DBAND 0.1 SMARTS 0

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 100 PITCH_GAIN 27 SM_CC 200

ALTIM_BOTTOM_TURN_MARGIN 0 D_PITCH 0 PITCH_MAX 4022 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 0 D_SURF 2 PITCH_MIN 1469 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 0 D_TGT 990 PITCH_TIMEOUT 15 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 3 ESCAPE_HEADING 0 PITCH_VBD_SHIFT 0.0012300001 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 3 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 9.1530041e-05 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 0 FERRY_MAX 45 PRESSURE_YINT -13.47135 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LAT -2030

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 RAFOS_CORR_THRESH 60 TGT_DEFAULT_LON 5900

APOGEE_PITCH -5 GLIDE_SLOPE 30 RAFOS_DEVICE -1 T_ABORT 720

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_DIVE 330

CALL_TRIES 5 HD_A 0.0038360001 RAFOS_PEAK_OFFSET 1.5 T_GPS 15

CALL_WAIT 60 HD_B 0.010078 RELAUNCH 1 T_GPS_ALMANAC 0

CAPMAXSIZE 100000 HD_C 9.8541004e-06 RHO 1.0273 T_GPS_CHARGE -7356.1919

CAPUPLOAD 0 HEADING 135 ROLL_ADJ_DBAND 0.029999999 T_MISSION 360

CF8_MAXERRORS 20 HEAD_ERRBAND 15 ROLL_ADJ_GAIN 3 T_NO_W 120

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 250 T_RSLEEP 3

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN 270

COMPASS_USE 0 ID 143 ROLL_DEG 40 T_TURN_SAMPINT 5

COURSE_BIAS 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3816 T_WATCHDOG 10

C_PITCH 2800 INT_PRESSURE_YINT 0 ROLL_MAXERRORS 1 UNCOM_BLEED 20

C_ROLL_CLIMB 2050 KALMAN_USE 2 ROLL_MIN 182 UPLOAD_DIVES_MAX -1

C_ROLL_DIVE 2295 KERMIT 0 ROLL_TIMEOUT 15 USE_BATHY 0

C_VBD 3071 MASS 51457 R_PORT_OVSHOOT 16 USE_ICE 0

DEEPGLIDER 0 MAX_BUOY 200 R_STBD_OVSHOOT 14 VBD_BLEED_AD_RATE 8

DEEPGLIDERMB 0 MISSION 4 SEABIRD_C_G -10.197048 VBD_CNV -0.24529999

DEVICE1 2 MOTHERBOARD 4 SEABIRD_C_H 1.1695373 VBD_DBAND 2

DEVICE2 20 NAV_MODE 0 SEABIRD_C_I -0.0015330453 VBD_MAX 3964

DEVICE3 53 N_FILEKB 8 SEABIRD_C_J 0.00015523176 VBD_MAXERRORS 1

DEVICE4 35 N_GPS 20 SEABIRD_T_G 0.0043273759 VBD_MIN 490

DEVICE5 87 N_NOCOMM 1 SEABIRD_T_H 0.00064184016 VBD_PUMP_AD_RATE_APOGEE 3

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.4188148e-05 VBD_PUMP_AD_RATE_SURFACE 4

DIVE 119 PHONE_DEVICE 48 SEABIRD_T_J 2.4070987e-06 VBD_TIMEOUT 720

D_ABORT 1040 PITCH_ADJ_DBAND 2 SIM_PITCH 0 XPDR_DEVICE 24

D_CALL 0 PITCH_ADJ_GAIN 0.02 SIM_W 0

Pre-dive calculations and measurements:

GPS1 042428,6125.282,-2403.822,40,99.0,59,-17.4 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG 6117.627,-2400.141

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 0.68 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -51.1 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 043039,6125.264,-2403.809,14,1.1,14,-17.4 MHEAD_RNG_PITCHd_Wd 152.4,20000,-15.7,-10.000

SPEED_LIMITS 0.173,0.296 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.1,1.027440 XPDR_PINGS 114

SM_CCo 16594,0.00,0.000,0,0,1317,430.26 _24V_AH 19.5,44.514

SM_GC 0.65,7.12,0.00,0.00,0.035,0.000,0.000,1467,2329,1317,-6.08,0.96,430.26 _10V_AH 9.8,32.243

IRIDIUM_FIX 6054.92,-2401.39,220797,232328 DATA_FILE_SIZE 123615,1673

TT8_MAMPS 0.021476 CAP_FILE_SIZE 152264,0

HUMID 1699 CFSIZE 260165632,244875264

INTERNAL_PRESSURE 8.14484 ERRORS 0,0,0,0,0,0,0,0,0,0,0,1,0,0,0

TCM_TEMP 11.90 GPS 280408,090837,6122.531,-2357.743,31,1.5,31,-17.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 21 256 105.47 SBE_CT 1237 24 579.12

Roll_motor 136 69 185.27 SBE_O2 1173 19 434.86

VBD_pump_during_apogee 649 1435 18186.55 Optode 609 33 392.49

VBD_pump_during_surface 0 0 0.00 WL_BB2F 828 105 1696.82

VBD_valve 0 0 0.00 WL_BBFL2VMT 1525 105 3123.79

Iridium_during_init 27 103 55.98 nil 0 0 0.00

Iridium_during_connect 27 160 86.91 nil 0 0 0.00

Iridium_during_xfer 201 223 874.93

Transponder_ping 28 420 233.41

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 16 50 8.14

TT8 2648 19 513.88

LPSleep 9340 2 200.46

TT8_Active 740 19 143.64

TT8_Sampling 3747 39 1461.79

TT8_CF8 472 45 212.18

TT8_Kalman 0 0 0.00

Analog_circuits 2170 12 255.28

GPS_charging 0 0 0.00

Compass 3741 8 293.34

RAFOS 0 0 0.00

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

22 end surface: CONTROL_FINISHED_OK

state 22 begin dive

25 -0.82 -194.7 0.0 0.0 0 128 0.00 0.00 -100.88 0.000 2 0.000 0.000 1468 2295 3565

130 -0.82 -194.7 3.5 -6.1 14 154 10.10 2.85 -6.53 0.000 4 0.257 0.067 2613 885 3866

349 -0.76 -194.7 45.1 -16.7 54 357 0.08 2.83 0.00 0.000 6 0.150 0.051 2626 2295 3867

488 -0.67 -194.7 66.8 -15.6 79 494 0.15 0.00 0.00 0.000 6 0.153 0.000 2650 2295 3867

816 -0.67 -194.7 112.7 -13.7 140 824 0.00 2.83 0.00 0.000 4 0.000 0.054 2650 886 3867

837 -0.67 -194.7 115.4 -14.1 143 843 0.00 2.75 0.00 0.000 6 0.000 0.046 2650 2291 3867

1167 -0.67 -194.7 159.8 -13.0 204 1174 0.00 0.00 0.00 0.000 6 0.000 0.000 2650 2291 3867

1509 -0.67 -194.7 204.5 -13.2 265 1514 0.00 0.00 0.00 0.000 6 0.000 0.000 2650 2291 3867

1847 -0.67 -194.7 248.3 -12.9 326 1853 0.00 2.78 0.00 0.000 4 0.000 0.054 2649 883 3866

1866 -0.67 -194.7 250.5 -12.7 329 1872 0.00 2.72 0.00 0.000 6 0.000 0.045 2650 2286 3867

2205 -0.67 -194.7 293.6 -12.3 390 2211 0.00 0.00 0.00 0.000 6 0.000 0.000 2650 2286 3867

2544 -0.67 -194.7 336.0 -12.7 451 2549 0.00 0.00 0.00 0.000 6 0.000 0.000 2650 2286 3867

2872 -0.67 -194.7 377.3 -12.6 492 2876 0.00 2.78 0.00 0.000 4 0.000 0.054 2649 877 3867

2892 -0.67 -194.7 380.0 -13.0 493 2899 0.00 2.75 0.00 0.000 6 0.000 0.045 2650 2283 3867

3218 -0.67 -194.7 420.4 -12.6 524 3219 0.00 0.00 0.00 0.000 6 0.000 0.000 2650 2284 3867

3535 -0.67 -194.7 459.4 -12.0 554 3536 0.00 0.00 0.00 0.000 6 0.000 0.000 2650 2283 3866

3854 -0.67 -194.7 497.9 -12.1 584 3855 0.00 0.00 0.00 0.000 6 0.000 0.000 2650 2284 3867

4174 -0.67 -194.7 535.4 -11.6 614 4178 0.00 2.78 0.00 0.000 4 0.000 0.055 2650 875 3867

4194 -0.67 -194.7 538.1 -12.0 615 4202 0.00 2.72 0.00 0.000 6 0.000 0.042 2650 2281 3867

4520 -0.67 -194.7 575.8 -11.7 646 4522 0.00 0.00 0.00 0.000 6 0.000 0.000 2650 2281 3866

4834 -0.67 -194.7 612.6 -11.7 671 4835 0.00 0.00 0.00 0.000 6 0.000 0.000 2650 2281 3867

5144 -0.67 -194.7 650.3 -12.4 686 5145 0.00 0.00 0.00 0.000 6 0.000 0.000 2650 2282 3867

5453 -0.67 -194.7 688.5 -12.5 701 5455 0.00 0.00 0.00 0.000 6 0.000 0.000 2650 2282 3866

5762 -0.67 -194.7 728.3 -13.1 716 5764 0.00 0.00 0.00 0.000 6 0.000 0.000 2650 2285 3866

6071 -0.67 -194.7 768.0 -12.9 731 6073 0.00 0.00 0.00 0.000 6 0.000 0.000 2650 2285 3866

6381 -0.67 -194.7 807.6 -12.5 746 6382 0.00 0.00 0.00 0.000 6 0.000 0.000 2650 2285 3866

6690 -0.67 -194.7 845.5 -11.8 761 6691 0.00 0.00 0.00 0.000 6 0.000 0.000 2650 2285 3866

6999 -0.67 -194.7 882.2 -12.1 776 7000 0.00 0.00 0.00 0.000 6 0.000 0.000 2650 2285 3866

7309 -0.67 -194.7 918.6 -11.6 791 7310 0.00 0.00 0.00 0.000 6 0.000 0.000 2651 2285 3866

7618 -0.67 -194.7 955.1 -11.8 806 7619 0.00 0.00 0.00 0.000 6 0.000 0.000 2651 2285 3866

7926 end dive: TARGET_DEPTH_EXCEEDED

state 7926 begin apogee

7931 -0.19 0.0 991.2 11.6 821 8132 0.62 0.00 197.50 1.435 6 0.127 0.000 2754 2038 3071

8132 end apogee: CONTROL_FINISHED_OK

state 8133 begin climb

8134 0.82 194.7 1000.7 0.0 831 8351 1.25 3.17 204.05 1.358 4 0.089 0.070 2969 648 2275

8440 0.71 194.7 977.5 11.6 845 8447 0.00 2.92 0.00 0.000 6 0.000 0.045 2970 2047 2272

8755 0.58 194.7 939.1 12.4 861 8761 0.25 2.95 0.00 0.000 4 0.131 0.062 2927 3467 2271

8850 0.54 199.6 929.2 9.8 865 8862 0.00 2.80 5.10 0.999 6 0.000 0.051 2927 2090 2257

9171 0.52 220.3 900.0 9.3 881 9200 0.00 2.88 22.15 1.368 4 0.000 0.058 2927 3461 2172

9250 0.52 220.3 892.2 10.6 884 9257 0.00 2.80 0.00 0.000 6 0.000 0.050 2928 2097 2171

9566 0.54 237.4 862.8 9.4 900 9590 0.00 2.83 18.80 1.349 4 0.000 0.058 2928 3462 2103

9606 0.50 251.8 858.6 9.5 902 9628 0.00 2.75 16.10 1.226 6 0.000 0.050 2929 2108 2044

9948 0.51 263.1 825.1 9.6 919 9963 0.00 0.00 12.45 1.330 6 0.000 0.000 2929 2107 1998

10257 0.54 288.1 796.8 9.1 934 10291 0.00 2.88 26.83 1.309 4 0.000 0.056 2927 3469 1895

10330 0.55 291.2 789.6 9.9 937 10342 0.00 2.75 4.72 0.924 6 0.000 0.050 2928 2118 1883

10651 0.56 301.3 759.5 9.7 953 10664 0.00 0.00 11.57 1.277 6 0.000 0.000 2928 2117 1842

10959 0.59 325.7 730.9 9.2 968 10990 0.00 2.78 25.88 1.249 4 0.000 0.056 2927 3462 1742

11012 0.63 355.4 726.0 9.0 970 11049 0.22 2.70 31.27 1.207 6 0.114 0.048 2940 2130 1622

11366 0.97 370.2 698.0 9.5 988 11388 0.32 3.08 15.65 1.215 4 0.046 0.065 2965 640 1560

11443 0.97 370.2 689.8 11.8 991 11449 0.22 2.92 0.00 0.000 6 0.056 0.042 3012 2122 1559

11765 0.75 370.2 622.0 21.9 1007 11770 0.28 2.67 0.00 0.000 4 0.148 0.054 2966 3464 1557

11786 0.59 370.2 617.4 20.6 1008 11791 0.28 2.70 0.00 0.000 6 0.133 0.047 2931 2106 1557

12111 0.73 426.8 589.9 8.0 1029 12176 0.15 3.08 57.83 1.161 4 0.064 0.065 2961 638 1330

12198 0.73 426.8 579.2 13.2 1037 12203 0.00 2.92 0.00 0.000 6 0.000 0.041 2962 2111 1327

12523 0.69 426.8 535.4 13.8 1067 12524 0.00 0.00 0.00 0.000 6 0.000 0.000 2962 2111 1324

12843 0.69 426.8 490.5 14.3 1097 12848 0.00 3.00 0.00 0.000 4 0.000 0.063 2963 634 1323

12874 0.69 426.8 485.7 13.9 1099 12882 0.00 2.85 0.00 0.000 6 0.000 0.041 2962 2108 1322

13200 0.69 426.8 439.6 14.3 1130 13201 0.00 0.00 0.00 0.000 6 0.000 0.000 2962 2108 1321

13518 0.69 426.8 393.0 14.7 1160 13523 0.00 2.97 0.00 0.000 4 0.000 0.062 2961 635 1321

13545 0.69 426.8 389.1 14.5 1162 13549 0.00 2.80 0.00 0.000 6 0.000 0.040 2965 2096 1320

13872 0.69 426.8 343.9 13.6 1195 13878 0.00 2.67 0.00 0.000 4 0.000 0.051 2958 3459 1320

13894 0.69 426.8 340.5 14.2 1199 13900 0.00 2.70 0.00 0.000 6 0.000 0.045 2962 2077 1319

14232 0.69 426.8 294.4 12.6 1260 14240 0.00 2.90 0.00 0.000 4 0.000 0.063 2958 637 1319

14264 0.69 426.8 290.2 13.7 1265 14270 0.00 2.75 0.00 0.000 6 0.000 0.040 2963 2082 1319

14605 0.69 426.8 245.6 12.7 1326 14611 0.00 2.70 0.00 0.000 4 0.000 0.051 2958 3469 1320

14635 0.69 426.8 242.0 13.1 1331 14641 0.00 2.70 0.00 0.000 6 0.000 0.044 2966 2081 1319

14974 0.69 426.8 198.7 12.5 1392 14982 0.00 2.90 0.00 0.000 4 0.000 0.064 2959 639 1319

15010 0.69 426.8 194.3 12.2 1398 15017 0.00 2.75 0.00 0.000 6 0.000 0.040 2962 2082 1319

15350 0.69 426.8 150.5 13.0 1459 15356 0.00 2.70 0.00 0.000 4 0.000 0.051 2958 3463 1319

15378 0.69 426.8 146.9 12.9 1464 15386 0.00 2.72 0.00 0.000 6 0.000 0.045 2961 2078 1319

15711 0.69 426.8 103.8 12.8 1525 15718 0.00 2.88 0.00 0.000 4 0.000 0.064 2960 638 1319

15747 0.69 426.8 99.1 12.8 1531 15753 0.00 2.72 0.00 0.000 6 0.000 0.039 2962 2073 1319

16076 0.69 426.8 56.0 14.3 1592 16084 0.00 2.75 0.00 0.000 4 0.000 0.052 2958 3462 1319

16110 0.69 426.8 51.7 13.7 1597 16116 0.00 2.72 0.00 0.000 6 0.000 0.045 2960 2063 1318

16430 0.69 426.8 8.7 10.3 1658 16439 0.00 2.88 0.00 0.000 4 0.000 0.065 2958 643 1318

16472 0.73 426.8 4.3 10.4 1665 16481 0.00 2.75 0.00 0.000 6 0.000 0.040 2961 2073 1318

16497 end climb: SURFACE_DEPTH_REACHED

state 16497 begin surface coast

16519 end surface coast: CONTROL_FINISHED_OK

state 16520 begin surface

ID	143	HD_C	9.8541004e-06	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0
MISSION	4	HEADING	135	PITCH_ADJ_GAIN	0.02	ALTIM_BOTTOM_TURN_MARGIN	0
DIVE	119	ESCAPE_HEADING	0	PITCH_ADJ_DBAND	2	ALTIM_TOP_TURN_MARGIN	0
D_SURF	2	ESCAPE_HEADING_DELTA	10	ROLL_MIN	182	ALTIM_TOP_MIN_OBSTACLE	0
D_FLARE	3	FIX_MISSING_TIMEOUT	0	ROLL_MAX	3816	ALTIM_PING_DEPTH	0
D_TGT	990	TGT_DEFAULT_LAT	-2030	ROLL_DEG	40	ALTIM_PING_DELTA	0
D_ABORT	1040	TGT_DEFAULT_LON	5900	C_ROLL_DIVE	2295	ALTIM_FREQUENCY	13
D_NO_BLEED	350	TGT_AUTO_DEFAULT	0	C_ROLL_CLIMB	2050	ALTIM_PULSE	3
D_FINISH	0	SM_CC	200	HEAD_ERRBAND	15	ALTIM_SENSITIVITY	3
D_PITCH	0	N_FILEKB	8	ROLL_CNV	0.028270001	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	FILEMGR	0	ROLL_TIMEOUT	15	INT_PRESSURE_YINT	0
D_CALL	0	CALL_NDIVES	1	R_PORT_OVSHOOT	16	DEEPGLIDER	0
SURFACE_URGENCY	0	COMM_SEQ	0	R_STBD_OVSHOOT	14	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	KERMIT	0	ROLL_AD_RATE	250	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	N_NOCOMM	1	ROLL_MAXERRORS	1	DEVICE1	2
T_DIVE	330	N_NOSURFACE	0	ROLL_ADJ_GAIN	3	DEVICE2	20
T_MISSION	360	UPLOAD_DIVES_MAX	-1	ROLL_ADJ_DBAND	0.029999999	DEVICE3	53
T_ABORT	720	CALL_TRIES	5	VBD_MIN	490	DEVICE4	35
T_TURN	270	CALL_WAIT	60	VBD_MAX	3964	DEVICE5	87
T_TURN_SAMPINT	5	CAPUPLOAD	0	C_VBD	3071	DEVICE6	-1
T_NO_W	120	CAPMAXSIZE	100000	VBD_DBAND	2	SMARTS	0
USE_BATHY	0	HEAPDBG	0	VBD_CNV	-0.24529999	SMARTDEVICE1	-1
USE_ICE	0	T_GPS	15	VBD_TIMEOUT	720	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.30000001	N_GPS	20	PITCH_VBD_SHIFT	0.0012300001	COMPASS_DEVICE	33
D_OFFGRID	100	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_SURFACE	4	PHONE_DEVICE	48
T_WATCHDOG	10	T_GPS_CHARGE	-7356.1919	VBD_PUMP_AD_RATE_APOGEE	3	GPS_DEVICE	32
RELAUNCH	1	T_RSLEEP	3	VBD_BLEED_AD_RATE	8	RAFOS_DEVICE	-1
APOGEE_PITCH	-5	RAFOS_PEAK_OFFSET	1.5	UNCOM_BLEED	20	XPDR_DEVICE	24
MAX_BUOY	200	RAFOS_CORR_THRESH	60	VBD_MAXERRORS	1	SIM_W	0
COURSE_BIAS	0	RAFOS_HIT_WINDOW	3600	CF8_MAXERRORS	20	SIM_PITCH	0
GLIDE_SLOPE	30	PITCH_MIN	1469	AH0_24V	150	SEABIRD_T_G	0.0043273759
SPEED_FACTOR	1	PITCH_MAX	4022	AH0_10V	100	SEABIRD_T_H	0.00064184016
RHO	1.0273	C_PITCH	2800	PRESSURE_YINT	-13.47135	SEABIRD_T_I	2.4188148e-05
MASS	51457	PITCH_DBAND	0.1	PRESSURE_SLOPE	9.1530041e-05	SEABIRD_T_J	2.4070987e-06
NAV_MODE	0	PITCH_CNV	0.0046000001	AD7714Ch0Gain	64	SEABIRD_C_G	-10.197048
FERRY_MAX	45	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1695373
KALMAN_USE	2	PITCH_GAIN	27	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0015330453
HD_A	0.0038360001	PITCH_TIMEOUT	15	COMPASS_USE	0	SEABIRD_C_J	0.00015523176
HD_B	0.010078	PITCH_AD_RATE	100	ALTIM_BOTTOM_PING_RANGE	0

GPS1	042428,6125.282,-2403.822,40,99.0,59,-17.4	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	6117.627,-2400.141
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	0.68	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-51.1	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	043039,6125.264,-2403.809,14,1.1,14,-17.4	MHEAD_RNG_PITCHd_Wd	152.4,20000,-15.7,-10.000
SPEED_LIMITS	0.173,0.296	D_GRID	990

FINISH	0.1,1.027440	XPDR_PINGS	114
SM_CCo	16594,0.00,0.000,0,0,1317,430.26	_24V_AH	19.5,44.514
SM_GC	0.65,7.12,0.00,0.00,0.035,0.000,0.000,1467,2329,1317,-6.08,0.96,430.26	_10V_AH	9.8,32.243
IRIDIUM_FIX	6054.92,-2401.39,220797,232328	DATA_FILE_SIZE	123615,1673
TT8_MAMPS	0.021476	CAP_FILE_SIZE	152264,0
HUMID	1699	CFSIZE	260165632,244875264
INTERNAL_PRESSURE	8.14484	ERRORS	0,0,0,0,0,0,0,0,0,0,0,1,0,0,0
TCM_TEMP	11.90	GPS	280408,090837,6122.531,-2357.743,31,1.5,31,-17.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	21	256	105.47	SBE_CT	1237	24	579.12
Roll_motor	136	69	185.27	SBE_O2	1173	19	434.86
VBD_pump_during_apogee	649	1435	18186.55	Optode	609	33	392.49
VBD_pump_during_surface	0	0	0.00	WL_BB2F	828	105	1696.82
VBD_valve	0	0	0.00	WL_BBFL2VMT	1525	105	3123.79
Iridium_during_init	27	103	55.98	nil	0	0	0.00
Iridium_during_connect	27	160	86.91	nil	0	0	0.00
Iridium_during_xfer	201	223	874.93
Transponder_ping	28	420	233.41
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	16	50	8.14
TT8	2648	19	513.88
LPSleep	9340	2	200.46
TT8_Active	740	19	143.64
TT8_Sampling	3747	39	1461.79
TT8_CF8	472	45	212.18
TT8_Kalman	0	0	0.00
Analog_circuits	2170	12	255.28
GPS_charging	0	0	0.00
Compass	3741	8	293.34
RAFOS	0	0	0.00

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
22	end surface: CONTROL_FINISHED_OK
state	22	begin dive
25	-0.82	-194.7	0.0	0.0	0	128	0.00	0.00	-100.88	0.000	2	0.000	0.000	1468	2295	3565
130	-0.82	-194.7	3.5	-6.1	14	154	10.10	2.85	-6.53	0.000	4	0.257	0.067	2613	885	3866
349	-0.76	-194.7	45.1	-16.7	54	357	0.08	2.83	0.00	0.000	6	0.150	0.051	2626	2295	3867
488	-0.67	-194.7	66.8	-15.6	79	494	0.15	0.00	0.00	0.000	6	0.153	0.000	2650	2295	3867
816	-0.67	-194.7	112.7	-13.7	140	824	0.00	2.83	0.00	0.000	4	0.000	0.054	2650	886	3867
837	-0.67	-194.7	115.4	-14.1	143	843	0.00	2.75	0.00	0.000	6	0.000	0.046	2650	2291	3867
1167	-0.67	-194.7	159.8	-13.0	204	1174	0.00	0.00	0.00	0.000	6	0.000	0.000	2650	2291	3867
1509	-0.67	-194.7	204.5	-13.2	265	1514	0.00	0.00	0.00	0.000	6	0.000	0.000	2650	2291	3867
1847	-0.67	-194.7	248.3	-12.9	326	1853	0.00	2.78	0.00	0.000	4	0.000	0.054	2649	883	3866
1866	-0.67	-194.7	250.5	-12.7	329	1872	0.00	2.72	0.00	0.000	6	0.000	0.045	2650	2286	3867
2205	-0.67	-194.7	293.6	-12.3	390	2211	0.00	0.00	0.00	0.000	6	0.000	0.000	2650	2286	3867
2544	-0.67	-194.7	336.0	-12.7	451	2549	0.00	0.00	0.00	0.000	6	0.000	0.000	2650	2286	3867
2872	-0.67	-194.7	377.3	-12.6	492	2876	0.00	2.78	0.00	0.000	4	0.000	0.054	2649	877	3867
2892	-0.67	-194.7	380.0	-13.0	493	2899	0.00	2.75	0.00	0.000	6	0.000	0.045	2650	2283	3867
3218	-0.67	-194.7	420.4	-12.6	524	3219	0.00	0.00	0.00	0.000	6	0.000	0.000	2650	2284	3867
3535	-0.67	-194.7	459.4	-12.0	554	3536	0.00	0.00	0.00	0.000	6	0.000	0.000	2650	2283	3866
3854	-0.67	-194.7	497.9	-12.1	584	3855	0.00	0.00	0.00	0.000	6	0.000	0.000	2650	2284	3867
4174	-0.67	-194.7	535.4	-11.6	614	4178	0.00	2.78	0.00	0.000	4	0.000	0.055	2650	875	3867
4194	-0.67	-194.7	538.1	-12.0	615	4202	0.00	2.72	0.00	0.000	6	0.000	0.042	2650	2281	3867
4520	-0.67	-194.7	575.8	-11.7	646	4522	0.00	0.00	0.00	0.000	6	0.000	0.000	2650	2281	3866
4834	-0.67	-194.7	612.6	-11.7	671	4835	0.00	0.00	0.00	0.000	6	0.000	0.000	2650	2281	3867
5144	-0.67	-194.7	650.3	-12.4	686	5145	0.00	0.00	0.00	0.000	6	0.000	0.000	2650	2282	3867
5453	-0.67	-194.7	688.5	-12.5	701	5455	0.00	0.00	0.00	0.000	6	0.000	0.000	2650	2282	3866
5762	-0.67	-194.7	728.3	-13.1	716	5764	0.00	0.00	0.00	0.000	6	0.000	0.000	2650	2285	3866
6071	-0.67	-194.7	768.0	-12.9	731	6073	0.00	0.00	0.00	0.000	6	0.000	0.000	2650	2285	3866
6381	-0.67	-194.7	807.6	-12.5	746	6382	0.00	0.00	0.00	0.000	6	0.000	0.000	2650	2285	3866
6690	-0.67	-194.7	845.5	-11.8	761	6691	0.00	0.00	0.00	0.000	6	0.000	0.000	2650	2285	3866
6999	-0.67	-194.7	882.2	-12.1	776	7000	0.00	0.00	0.00	0.000	6	0.000	0.000	2650	2285	3866
7309	-0.67	-194.7	918.6	-11.6	791	7310	0.00	0.00	0.00	0.000	6	0.000	0.000	2651	2285	3866
7618	-0.67	-194.7	955.1	-11.8	806	7619	0.00	0.00	0.00	0.000	6	0.000	0.000	2651	2285	3866
7926	end dive: TARGET_DEPTH_EXCEEDED
state	7926	begin apogee
7931	-0.19	0.0	991.2	11.6	821	8132	0.62	0.00	197.50	1.435	6	0.127	0.000	2754	2038	3071
8132	end apogee: CONTROL_FINISHED_OK
state	8133	begin climb
8134	0.82	194.7	1000.7	0.0	831	8351	1.25	3.17	204.05	1.358	4	0.089	0.070	2969	648	2275
8440	0.71	194.7	977.5	11.6	845	8447	0.00	2.92	0.00	0.000	6	0.000	0.045	2970	2047	2272
8755	0.58	194.7	939.1	12.4	861	8761	0.25	2.95	0.00	0.000	4	0.131	0.062	2927	3467	2271
8850	0.54	199.6	929.2	9.8	865	8862	0.00	2.80	5.10	0.999	6	0.000	0.051	2927	2090	2257
9171	0.52	220.3	900.0	9.3	881	9200	0.00	2.88	22.15	1.368	4	0.000	0.058	2927	3461	2172
9250	0.52	220.3	892.2	10.6	884	9257	0.00	2.80	0.00	0.000	6	0.000	0.050	2928	2097	2171
9566	0.54	237.4	862.8	9.4	900	9590	0.00	2.83	18.80	1.349	4	0.000	0.058	2928	3462	2103
9606	0.50	251.8	858.6	9.5	902	9628	0.00	2.75	16.10	1.226	6	0.000	0.050	2929	2108	2044
9948	0.51	263.1	825.1	9.6	919	9963	0.00	0.00	12.45	1.330	6	0.000	0.000	2929	2107	1998
10257	0.54	288.1	796.8	9.1	934	10291	0.00	2.88	26.83	1.309	4	0.000	0.056	2927	3469	1895
10330	0.55	291.2	789.6	9.9	937	10342	0.00	2.75	4.72	0.924	6	0.000	0.050	2928	2118	1883
10651	0.56	301.3	759.5	9.7	953	10664	0.00	0.00	11.57	1.277	6	0.000	0.000	2928	2117	1842
10959	0.59	325.7	730.9	9.2	968	10990	0.00	2.78	25.88	1.249	4	0.000	0.056	2927	3462	1742
11012	0.63	355.4	726.0	9.0	970	11049	0.22	2.70	31.27	1.207	6	0.114	0.048	2940	2130	1622
11366	0.97	370.2	698.0	9.5	988	11388	0.32	3.08	15.65	1.215	4	0.046	0.065	2965	640	1560
11443	0.97	370.2	689.8	11.8	991	11449	0.22	2.92	0.00	0.000	6	0.056	0.042	3012	2122	1559
11765	0.75	370.2	622.0	21.9	1007	11770	0.28	2.67	0.00	0.000	4	0.148	0.054	2966	3464	1557
11786	0.59	370.2	617.4	20.6	1008	11791	0.28	2.70	0.00	0.000	6	0.133	0.047	2931	2106	1557
12111	0.73	426.8	589.9	8.0	1029	12176	0.15	3.08	57.83	1.161	4	0.064	0.065	2961	638	1330
12198	0.73	426.8	579.2	13.2	1037	12203	0.00	2.92	0.00	0.000	6	0.000	0.041	2962	2111	1327
12523	0.69	426.8	535.4	13.8	1067	12524	0.00	0.00	0.00	0.000	6	0.000	0.000	2962	2111	1324
12843	0.69	426.8	490.5	14.3	1097	12848	0.00	3.00	0.00	0.000	4	0.000	0.063	2963	634	1323
12874	0.69	426.8	485.7	13.9	1099	12882	0.00	2.85	0.00	0.000	6	0.000	0.041	2962	2108	1322
13200	0.69	426.8	439.6	14.3	1130	13201	0.00	0.00	0.00	0.000	6	0.000	0.000	2962	2108	1321
13518	0.69	426.8	393.0	14.7	1160	13523	0.00	2.97	0.00	0.000	4	0.000	0.062	2961	635	1321
13545	0.69	426.8	389.1	14.5	1162	13549	0.00	2.80	0.00	0.000	6	0.000	0.040	2965	2096	1320
13872	0.69	426.8	343.9	13.6	1195	13878	0.00	2.67	0.00	0.000	4	0.000	0.051	2958	3459	1320
13894	0.69	426.8	340.5	14.2	1199	13900	0.00	2.70	0.00	0.000	6	0.000	0.045	2962	2077	1319
14232	0.69	426.8	294.4	12.6	1260	14240	0.00	2.90	0.00	0.000	4	0.000	0.063	2958	637	1319
14264	0.69	426.8	290.2	13.7	1265	14270	0.00	2.75	0.00	0.000	6	0.000	0.040	2963	2082	1319
14605	0.69	426.8	245.6	12.7	1326	14611	0.00	2.70	0.00	0.000	4	0.000	0.051	2958	3469	1320
14635	0.69	426.8	242.0	13.1	1331	14641	0.00	2.70	0.00	0.000	6	0.000	0.044	2966	2081	1319
14974	0.69	426.8	198.7	12.5	1392	14982	0.00	2.90	0.00	0.000	4	0.000	0.064	2959	639	1319
15010	0.69	426.8	194.3	12.2	1398	15017	0.00	2.75	0.00	0.000	6	0.000	0.040	2962	2082	1319
15350	0.69	426.8	150.5	13.0	1459	15356	0.00	2.70	0.00	0.000	4	0.000	0.051	2958	3463	1319
15378	0.69	426.8	146.9	12.9	1464	15386	0.00	2.72	0.00	0.000	6	0.000	0.045	2961	2078	1319
15711	0.69	426.8	103.8	12.8	1525	15718	0.00	2.88	0.00	0.000	4	0.000	0.064	2960	638	1319
15747	0.69	426.8	99.1	12.8	1531	15753	0.00	2.72	0.00	0.000	6	0.000	0.039	2962	2073	1319
16076	0.69	426.8	56.0	14.3	1592	16084	0.00	2.75	0.00	0.000	4	0.000	0.052	2958	3462	1319
16110	0.69	426.8	51.7	13.7	1597	16116	0.00	2.72	0.00	0.000	6	0.000	0.045	2960	2063	1318
16430	0.69	426.8	8.7	10.3	1658	16439	0.00	2.88	0.00	0.000	4	0.000	0.065	2958	643	1318
16472	0.73	426.8	4.3	10.4	1665	16481	0.00	2.75	0.00	0.000	6	0.000	0.040	2961	2073	1318
16497	end climb: SURFACE_DEPTH_REACHED
state	16497	begin surface coast
16519	end surface coast: CONTROL_FINISHED_OK
state	16520	begin surface