Glider dive log

NAB Apr08 * SG143 * Dive index * Mission links * Dive 162 * 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 140 PITCH_ADJ_GAIN 0.02 ALTIM_BOTTOM_TURN_MARGIN 0

DIVE 162 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 19 DEEPGLIDER 0

SURFACE_URGENCY 0 COMM_SEQ 0 R_STBD_OVSHOOT 23 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 -8223.5312 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 -8223.5312

CAPUPLOAD 0 HEADING 140 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 19 USE_ICE 0

DEEPGLIDER 0 MAX_BUOY 200 R_STBD_OVSHOOT 23 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 162 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 231108,6111.719,-2645.296,28,1.4,28,-18.7 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG 6103.520,-2641.820

_XMS_NAKs 8 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 0.88 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -57.3 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 231751,6111.793,-2645.179,11,1.5,11,-18.7 MHEAD_RNG_PITCHd_Wd 158.7,20000,-15.7,-10.000

SPEED_LIMITS 0.173,0.296 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.4,1.027364 XPDR_PINGS 115

SM_CCo 16464,0.00,0.000,0,0,1394,411.37 _24V_AH 19.3,55.921

SM_GC 0.88,7.25,0.00,0.00,0.044,0.000,0.000,1469,2316,1394,-6.08,0.59,411.37 _10V_AH 9.8,40.103

IRIDIUM_FIX 6041.65,-2647.85,310797,181848 DATA_FILE_SIZE 123407,1648

TT8_MAMPS 0.021476 CAP_FILE_SIZE 152424,0

HUMID 1699 CFSIZE 260165632,240984064

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

TCM_TEMP 11.70 GPS 070508,035338,6110.512,-2637.451,29,1.4,29,-18.6

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 242 95.89 SBE_CT 1230 24 570.01

Roll_motor 130 70 178.34 SBE_O2 1153 19 422.92

VBD_pump_during_apogee 637 1438 17700.58 Optode 597 33 380.60

VBD_pump_during_surface 0 0 0.00 WL_BB2F 819 105 1661.70

VBD_valve 0 0 0.00 WL_BBFL2VMT 1507 105 3054.17

Iridium_during_init 27 103 55.03 nil 0 0 0.00

Iridium_during_connect 28 160 87.36 nil 0 0 0.00

Iridium_during_xfer 233 223 1004.07

Transponder_ping 28 420 233.05

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 13 50 6.41

TT8 2626 19 509.64

LPSleep 9249 2 198.52

TT8_Active 740 19 143.78

TT8_Sampling 3703 39 1444.37

TT8_CF8 531 45 238.78

TT8_Kalman 0 0 0.00

Analog_circuits 2159 12 253.93

GPS_charging 0 0 0.00

Compass 3703 8 290.34

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

23 end surface: CONTROL_FINISHED_OK

state 23 begin dive

25 -0.82 -194.7 0.0 0.0 0 137 0.00 0.00 -109.00 0.000 2 0.000 0.000 1469 2315 3521

139 -0.82 -194.7 3.4 -5.3 15 162 9.57 0.00 -7.85 0.000 6 0.242 0.000 2612 2315 3866

290 -0.71 -194.7 33.0 -18.4 42 298 0.17 0.00 0.00 0.000 6 0.144 0.000 2640 2315 3867

427 -0.71 -194.7 53.3 -14.3 67 433 0.00 2.85 0.00 0.000 4 0.000 0.054 2641 882 3867

441 -0.71 -194.7 55.4 -13.7 69 447 0.00 2.75 0.00 0.000 6 0.000 0.047 2640 2295 3867

771 -0.71 -194.7 101.9 -14.0 130 778 0.00 0.00 0.00 0.000 6 0.000 0.000 2641 2295 3867

1104 -0.71 -194.7 149.1 -14.6 191 1110 0.00 0.00 0.00 0.000 6 0.000 0.000 2640 2295 3867

1444 -0.71 -194.7 198.6 -14.1 252 1451 0.00 0.00 0.00 0.000 6 0.000 0.000 2640 2295 3867

1786 -0.71 -194.7 247.4 -14.2 313 1792 0.00 2.80 0.00 0.000 4 0.000 0.054 2640 876 3867

1806 -0.71 -194.7 250.2 -14.1 316 1813 0.00 2.80 0.00 0.000 6 0.000 0.047 2641 2301 3867

2150 -0.71 -194.7 298.9 -14.4 377 2156 0.00 2.80 0.00 0.000 4 0.000 0.054 2640 882 3867

2169 -0.71 -194.7 301.7 -14.5 380 2177 0.00 2.78 0.00 0.000 6 0.000 0.045 2640 2299 3867

2513 -0.71 -194.7 350.6 -14.2 441 2514 0.00 0.00 0.00 0.000 6 0.000 0.000 2640 2299 3867

2830 -0.71 -194.7 394.4 -13.1 471 2834 0.00 2.80 0.00 0.000 4 0.000 0.054 2640 878 3867

2867 -0.71 -194.7 399.4 -13.1 474 2872 0.00 2.75 0.00 0.000 6 0.000 0.044 2640 2304 3866

3192 -0.71 -194.7 440.8 -12.8 504 3193 0.00 0.00 0.00 0.000 6 0.000 0.000 2640 2304 3867

3510 -0.71 -194.7 482.1 -13.0 534 3514 0.00 2.83 0.00 0.000 4 0.000 0.055 2641 875 3867

3530 -0.71 -194.7 485.0 -13.8 535 3537 0.00 2.75 0.00 0.000 6 0.000 0.043 2640 2291 3867

3856 -0.71 -194.7 528.3 -13.6 566 3858 0.00 0.00 0.00 0.000 6 0.000 0.000 2640 2291 3867

4174 -0.71 -194.7 571.6 -14.1 596 4178 0.00 2.80 0.00 0.000 4 0.000 0.056 2640 876 3867

4201 -0.71 -194.7 575.4 -14.4 598 4206 0.00 2.72 0.00 0.000 6 0.000 0.044 2640 2289 3867

4521 -0.71 -194.7 620.6 -14.0 621 4522 0.00 0.00 0.00 0.000 6 0.000 0.000 2640 2289 3867

4830 -0.71 -194.7 661.9 -12.9 636 4834 0.00 2.85 0.00 0.000 4 0.000 0.065 2640 882 3867

4856 -0.71 -194.7 665.4 -12.8 637 4861 0.00 2.70 0.00 0.000 6 0.000 0.045 2640 2275 3866

5177 -0.71 -194.7 705.1 -12.4 653 5178 0.00 0.00 0.00 0.000 6 0.000 0.000 2640 2276 3867

5486 -0.71 -194.7 744.4 -12.7 668 5487 0.00 0.00 0.00 0.000 6 0.000 0.000 2640 2278 3867

5796 -0.71 -194.7 784.5 -13.3 683 5797 0.00 0.00 0.00 0.000 6 0.000 0.000 2640 2278 3867

6105 -0.71 -194.7 825.6 -13.0 698 6106 0.00 0.00 0.00 0.000 6 0.000 0.000 2640 2278 3866

6414 -0.71 -194.7 864.0 -12.4 713 6415 0.00 0.00 0.00 0.000 6 0.000 0.000 2640 2278 3866

6724 -0.71 -194.7 901.2 -12.3 728 6728 0.00 2.90 0.00 0.000 4 0.000 0.065 2640 3702 3866

6762 -0.71 -194.7 906.1 -12.7 730 6767 0.00 2.85 0.00 0.000 6 0.000 0.053 2640 2268 3865

7087 -0.71 -194.7 945.8 -12.5 746 7088 0.00 0.00 0.00 0.000 6 0.000 0.000 2640 2268 3865

7397 -0.71 -194.7 983.1 -11.9 761 7398 0.00 0.00 0.00 0.000 6 0.000 0.000 2640 2268 3865

7456 end dive: TARGET_DEPTH_EXCEEDED

state 7457 begin apogee

7461 -0.19 0.0 990.6 12.2 764 7664 0.68 0.00 198.88 1.438 6 0.126 0.000 2753 2033 3071

7665 end apogee: CONTROL_FINISHED_OK

state 7665 begin climb

7667 0.82 194.7 1000.0 0.0 774 7884 1.27 3.20 206.18 1.367 4 0.088 0.071 2971 649 2277

7974 0.69 194.7 975.3 13.3 788 7981 0.15 2.92 0.00 0.000 6 0.137 0.045 2954 2049 2273

8289 0.58 194.7 936.8 12.0 804 8295 0.17 2.92 0.00 0.000 4 0.137 0.061 2924 3464 2271

8367 0.59 200.1 928.5 9.8 807 8378 0.00 2.83 6.00 1.082 6 0.000 0.051 2924 2069 2255

8699 0.63 238.9 899.3 8.7 824 8745 0.00 2.92 40.10 1.369 4 0.000 0.060 2924 3461 2097

8801 0.64 248.7 889.8 9.7 829 8822 0.00 2.80 11.77 1.251 6 0.000 0.051 2924 2088 2056

9131 0.68 275.4 859.7 9.1 845 9166 0.12 2.90 27.73 1.348 4 0.077 0.059 2948 3459 1947

9195 0.63 275.4 852.8 11.3 848 9199 0.00 2.75 0.00 0.000 6 0.000 0.051 2948 2112 1945

9520 0.56 275.4 815.9 11.2 864 9522 0.15 0.00 0.00 0.000 6 0.133 0.000 2927 2112 1943

9830 0.59 296.8 787.2 9.3 879 9859 0.00 2.83 22.67 1.311 4 0.000 0.059 2926 3462 1860

9893 0.59 299.8 781.1 9.9 882 9903 0.00 2.70 4.53 0.900 6 0.000 0.051 2929 2128 1848

10218 0.61 313.7 751.2 9.5 898 10239 0.00 0.00 15.62 1.272 6 0.000 0.000 2926 2128 1792

10548 0.62 324.4 719.2 9.6 914 10562 0.00 0.00 12.62 1.253 6 0.000 0.000 2926 2126 1748

10857 0.66 356.0 690.2 8.9 929 10896 0.00 0.00 33.53 1.256 6 0.000 0.000 2926 2125 1618

11206 0.75 392.1 660.3 8.8 946 11250 0.20 2.78 37.67 1.216 4 0.062 0.056 2966 3468 1471

11267 0.69 392.1 652.3 14.3 949 11272 0.00 2.70 0.00 0.000 6 0.000 0.048 2966 2141 1470

11593 0.61 392.1 602.4 15.4 965 11598 0.17 3.05 0.00 0.000 4 0.132 0.065 2937 641 1466

11626 0.61 392.1 597.9 12.0 967 11632 0.00 2.95 0.00 0.000 6 0.000 0.043 2937 2157 1465

11951 0.63 407.2 567.1 9.5 998 11971 0.00 0.00 15.82 1.162 6 0.000 0.000 2937 2156 1410

12289 0.67 407.2 533.4 10.1 1030 12294 0.00 3.08 0.00 0.000 4 0.000 0.064 2937 641 1408

12331 0.76 410.5 529.3 9.9 1033 12343 0.15 2.90 4.60 0.854 6 0.062 0.041 2969 2144 1397

12660 0.68 410.5 476.7 17.0 1064 12665 0.12 2.60 0.00 0.000 4 0.133 0.051 2951 3466 1397

12699 0.68 410.5 471.2 12.7 1067 12703 0.00 2.62 0.00 0.000 6 0.000 0.045 2966 2127 1396

13025 0.68 410.5 431.2 12.5 1097 13029 0.00 2.97 0.00 0.000 4 0.000 0.062 2951 635 1396

13063 0.72 410.5 426.2 12.4 1100 13068 0.00 2.88 0.00 0.000 6 0.000 0.040 2951 2138 1396

13387 0.72 410.5 385.1 13.3 1130 13388 0.00 0.00 0.00 0.000 6 0.000 0.000 2951 2138 1395

13709 0.72 410.5 343.3 12.6 1164 13716 0.00 0.00 0.00 0.000 6 0.000 0.000 2951 2139 1395

14049 0.72 410.5 300.2 13.0 1225 14055 0.00 3.00 0.00 0.000 4 0.000 0.061 2952 640 1395

14085 0.76 410.5 295.8 12.2 1231 14091 0.00 2.85 0.00 0.000 6 0.000 0.040 2951 2134 1395

14425 0.76 410.5 255.5 10.8 1292 14432 0.00 0.00 0.00 0.000 6 0.000 0.000 2951 2134 1395

14766 0.76 410.5 216.0 11.9 1353 14772 0.00 0.00 0.00 0.000 6 0.000 0.000 2951 2134 1395

15105 0.76 410.5 176.7 11.5 1414 15111 0.00 3.00 0.00 0.000 4 0.000 0.061 2951 634 1395

15146 0.83 410.5 172.1 10.6 1421 15153 0.15 2.83 0.00 0.000 6 0.059 0.040 2984 2117 1395

15481 0.71 410.5 113.0 18.6 1482 15491 0.15 2.67 0.00 0.000 4 0.137 0.052 2958 3468 1395

15518 0.71 410.5 107.1 13.8 1488 15526 0.00 2.70 0.00 0.000 6 0.000 0.045 2959 2092 1395

15851 0.71 410.5 65.3 12.7 1549 15857 0.00 2.88 0.00 0.000 4 0.000 0.064 2959 643 1395

15887 0.71 410.5 60.8 12.4 1555 15893 0.00 2.80 0.00 0.000 6 0.000 0.040 2959 2114 1395

16210 0.71 410.5 21.3 11.5 1616 16218 0.00 2.67 0.00 0.000 4 0.000 0.052 2958 3468 1395

16236 0.71 410.5 18.0 12.2 1620 16244 0.00 2.67 0.00 0.000 6 0.000 0.044 2961 2102 1395

16369 end climb: SURFACE_DEPTH_REACHED

state 16369 begin surface coast

16388 end surface coast: CONTROL_FINISHED_OK

state 16388 begin surface

ID	143	HD_C	9.8541004e-06	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0
MISSION	4	HEADING	140	PITCH_ADJ_GAIN	0.02	ALTIM_BOTTOM_TURN_MARGIN	0
DIVE	162	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	19	DEEPGLIDER	0
SURFACE_URGENCY	0	COMM_SEQ	0	R_STBD_OVSHOOT	23	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	-8223.5312	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	231108,6111.719,-2645.296,28,1.4,28,-18.7	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	6103.520,-2641.820
_XMS_NAKs	8	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	0.88	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-57.3	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	231751,6111.793,-2645.179,11,1.5,11,-18.7	MHEAD_RNG_PITCHd_Wd	158.7,20000,-15.7,-10.000
SPEED_LIMITS	0.173,0.296	D_GRID	990

FINISH	0.4,1.027364	XPDR_PINGS	115
SM_CCo	16464,0.00,0.000,0,0,1394,411.37	_24V_AH	19.3,55.921
SM_GC	0.88,7.25,0.00,0.00,0.044,0.000,0.000,1469,2316,1394,-6.08,0.59,411.37	_10V_AH	9.8,40.103
IRIDIUM_FIX	6041.65,-2647.85,310797,181848	DATA_FILE_SIZE	123407,1648
TT8_MAMPS	0.021476	CAP_FILE_SIZE	152424,0
HUMID	1699	CFSIZE	260165632,240984064
INTERNAL_PRESSURE	8.14484	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	11.70	GPS	070508,035338,6110.512,-2637.451,29,1.4,29,-18.6

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	242	95.89	SBE_CT	1230	24	570.01
Roll_motor	130	70	178.34	SBE_O2	1153	19	422.92
VBD_pump_during_apogee	637	1438	17700.58	Optode	597	33	380.60
VBD_pump_during_surface	0	0	0.00	WL_BB2F	819	105	1661.70
VBD_valve	0	0	0.00	WL_BBFL2VMT	1507	105	3054.17
Iridium_during_init	27	103	55.03	nil	0	0	0.00
Iridium_during_connect	28	160	87.36	nil	0	0	0.00
Iridium_during_xfer	233	223	1004.07
Transponder_ping	28	420	233.05
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	13	50	6.41
TT8	2626	19	509.64
LPSleep	9249	2	198.52
TT8_Active	740	19	143.78
TT8_Sampling	3703	39	1444.37
TT8_CF8	531	45	238.78
TT8_Kalman	0	0	0.00
Analog_circuits	2159	12	253.93
GPS_charging	0	0	0.00
Compass	3703	8	290.34
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
23	end surface: CONTROL_FINISHED_OK
state	23	begin dive
25	-0.82	-194.7	0.0	0.0	0	137	0.00	0.00	-109.00	0.000	2	0.000	0.000	1469	2315	3521
139	-0.82	-194.7	3.4	-5.3	15	162	9.57	0.00	-7.85	0.000	6	0.242	0.000	2612	2315	3866
290	-0.71	-194.7	33.0	-18.4	42	298	0.17	0.00	0.00	0.000	6	0.144	0.000	2640	2315	3867
427	-0.71	-194.7	53.3	-14.3	67	433	0.00	2.85	0.00	0.000	4	0.000	0.054	2641	882	3867
441	-0.71	-194.7	55.4	-13.7	69	447	0.00	2.75	0.00	0.000	6	0.000	0.047	2640	2295	3867
771	-0.71	-194.7	101.9	-14.0	130	778	0.00	0.00	0.00	0.000	6	0.000	0.000	2641	2295	3867
1104	-0.71	-194.7	149.1	-14.6	191	1110	0.00	0.00	0.00	0.000	6	0.000	0.000	2640	2295	3867
1444	-0.71	-194.7	198.6	-14.1	252	1451	0.00	0.00	0.00	0.000	6	0.000	0.000	2640	2295	3867
1786	-0.71	-194.7	247.4	-14.2	313	1792	0.00	2.80	0.00	0.000	4	0.000	0.054	2640	876	3867
1806	-0.71	-194.7	250.2	-14.1	316	1813	0.00	2.80	0.00	0.000	6	0.000	0.047	2641	2301	3867
2150	-0.71	-194.7	298.9	-14.4	377	2156	0.00	2.80	0.00	0.000	4	0.000	0.054	2640	882	3867
2169	-0.71	-194.7	301.7	-14.5	380	2177	0.00	2.78	0.00	0.000	6	0.000	0.045	2640	2299	3867
2513	-0.71	-194.7	350.6	-14.2	441	2514	0.00	0.00	0.00	0.000	6	0.000	0.000	2640	2299	3867
2830	-0.71	-194.7	394.4	-13.1	471	2834	0.00	2.80	0.00	0.000	4	0.000	0.054	2640	878	3867
2867	-0.71	-194.7	399.4	-13.1	474	2872	0.00	2.75	0.00	0.000	6	0.000	0.044	2640	2304	3866
3192	-0.71	-194.7	440.8	-12.8	504	3193	0.00	0.00	0.00	0.000	6	0.000	0.000	2640	2304	3867
3510	-0.71	-194.7	482.1	-13.0	534	3514	0.00	2.83	0.00	0.000	4	0.000	0.055	2641	875	3867
3530	-0.71	-194.7	485.0	-13.8	535	3537	0.00	2.75	0.00	0.000	6	0.000	0.043	2640	2291	3867
3856	-0.71	-194.7	528.3	-13.6	566	3858	0.00	0.00	0.00	0.000	6	0.000	0.000	2640	2291	3867
4174	-0.71	-194.7	571.6	-14.1	596	4178	0.00	2.80	0.00	0.000	4	0.000	0.056	2640	876	3867
4201	-0.71	-194.7	575.4	-14.4	598	4206	0.00	2.72	0.00	0.000	6	0.000	0.044	2640	2289	3867
4521	-0.71	-194.7	620.6	-14.0	621	4522	0.00	0.00	0.00	0.000	6	0.000	0.000	2640	2289	3867
4830	-0.71	-194.7	661.9	-12.9	636	4834	0.00	2.85	0.00	0.000	4	0.000	0.065	2640	882	3867
4856	-0.71	-194.7	665.4	-12.8	637	4861	0.00	2.70	0.00	0.000	6	0.000	0.045	2640	2275	3866
5177	-0.71	-194.7	705.1	-12.4	653	5178	0.00	0.00	0.00	0.000	6	0.000	0.000	2640	2276	3867
5486	-0.71	-194.7	744.4	-12.7	668	5487	0.00	0.00	0.00	0.000	6	0.000	0.000	2640	2278	3867
5796	-0.71	-194.7	784.5	-13.3	683	5797	0.00	0.00	0.00	0.000	6	0.000	0.000	2640	2278	3867
6105	-0.71	-194.7	825.6	-13.0	698	6106	0.00	0.00	0.00	0.000	6	0.000	0.000	2640	2278	3866
6414	-0.71	-194.7	864.0	-12.4	713	6415	0.00	0.00	0.00	0.000	6	0.000	0.000	2640	2278	3866
6724	-0.71	-194.7	901.2	-12.3	728	6728	0.00	2.90	0.00	0.000	4	0.000	0.065	2640	3702	3866
6762	-0.71	-194.7	906.1	-12.7	730	6767	0.00	2.85	0.00	0.000	6	0.000	0.053	2640	2268	3865
7087	-0.71	-194.7	945.8	-12.5	746	7088	0.00	0.00	0.00	0.000	6	0.000	0.000	2640	2268	3865
7397	-0.71	-194.7	983.1	-11.9	761	7398	0.00	0.00	0.00	0.000	6	0.000	0.000	2640	2268	3865
7456	end dive: TARGET_DEPTH_EXCEEDED
state	7457	begin apogee
7461	-0.19	0.0	990.6	12.2	764	7664	0.68	0.00	198.88	1.438	6	0.126	0.000	2753	2033	3071
7665	end apogee: CONTROL_FINISHED_OK
state	7665	begin climb
7667	0.82	194.7	1000.0	0.0	774	7884	1.27	3.20	206.18	1.367	4	0.088	0.071	2971	649	2277
7974	0.69	194.7	975.3	13.3	788	7981	0.15	2.92	0.00	0.000	6	0.137	0.045	2954	2049	2273
8289	0.58	194.7	936.8	12.0	804	8295	0.17	2.92	0.00	0.000	4	0.137	0.061	2924	3464	2271
8367	0.59	200.1	928.5	9.8	807	8378	0.00	2.83	6.00	1.082	6	0.000	0.051	2924	2069	2255
8699	0.63	238.9	899.3	8.7	824	8745	0.00	2.92	40.10	1.369	4	0.000	0.060	2924	3461	2097
8801	0.64	248.7	889.8	9.7	829	8822	0.00	2.80	11.77	1.251	6	0.000	0.051	2924	2088	2056
9131	0.68	275.4	859.7	9.1	845	9166	0.12	2.90	27.73	1.348	4	0.077	0.059	2948	3459	1947
9195	0.63	275.4	852.8	11.3	848	9199	0.00	2.75	0.00	0.000	6	0.000	0.051	2948	2112	1945
9520	0.56	275.4	815.9	11.2	864	9522	0.15	0.00	0.00	0.000	6	0.133	0.000	2927	2112	1943
9830	0.59	296.8	787.2	9.3	879	9859	0.00	2.83	22.67	1.311	4	0.000	0.059	2926	3462	1860
9893	0.59	299.8	781.1	9.9	882	9903	0.00	2.70	4.53	0.900	6	0.000	0.051	2929	2128	1848
10218	0.61	313.7	751.2	9.5	898	10239	0.00	0.00	15.62	1.272	6	0.000	0.000	2926	2128	1792
10548	0.62	324.4	719.2	9.6	914	10562	0.00	0.00	12.62	1.253	6	0.000	0.000	2926	2126	1748
10857	0.66	356.0	690.2	8.9	929	10896	0.00	0.00	33.53	1.256	6	0.000	0.000	2926	2125	1618
11206	0.75	392.1	660.3	8.8	946	11250	0.20	2.78	37.67	1.216	4	0.062	0.056	2966	3468	1471
11267	0.69	392.1	652.3	14.3	949	11272	0.00	2.70	0.00	0.000	6	0.000	0.048	2966	2141	1470
11593	0.61	392.1	602.4	15.4	965	11598	0.17	3.05	0.00	0.000	4	0.132	0.065	2937	641	1466
11626	0.61	392.1	597.9	12.0	967	11632	0.00	2.95	0.00	0.000	6	0.000	0.043	2937	2157	1465
11951	0.63	407.2	567.1	9.5	998	11971	0.00	0.00	15.82	1.162	6	0.000	0.000	2937	2156	1410
12289	0.67	407.2	533.4	10.1	1030	12294	0.00	3.08	0.00	0.000	4	0.000	0.064	2937	641	1408
12331	0.76	410.5	529.3	9.9	1033	12343	0.15	2.90	4.60	0.854	6	0.062	0.041	2969	2144	1397
12660	0.68	410.5	476.7	17.0	1064	12665	0.12	2.60	0.00	0.000	4	0.133	0.051	2951	3466	1397
12699	0.68	410.5	471.2	12.7	1067	12703	0.00	2.62	0.00	0.000	6	0.000	0.045	2966	2127	1396
13025	0.68	410.5	431.2	12.5	1097	13029	0.00	2.97	0.00	0.000	4	0.000	0.062	2951	635	1396
13063	0.72	410.5	426.2	12.4	1100	13068	0.00	2.88	0.00	0.000	6	0.000	0.040	2951	2138	1396
13387	0.72	410.5	385.1	13.3	1130	13388	0.00	0.00	0.00	0.000	6	0.000	0.000	2951	2138	1395
13709	0.72	410.5	343.3	12.6	1164	13716	0.00	0.00	0.00	0.000	6	0.000	0.000	2951	2139	1395
14049	0.72	410.5	300.2	13.0	1225	14055	0.00	3.00	0.00	0.000	4	0.000	0.061	2952	640	1395
14085	0.76	410.5	295.8	12.2	1231	14091	0.00	2.85	0.00	0.000	6	0.000	0.040	2951	2134	1395
14425	0.76	410.5	255.5	10.8	1292	14432	0.00	0.00	0.00	0.000	6	0.000	0.000	2951	2134	1395
14766	0.76	410.5	216.0	11.9	1353	14772	0.00	0.00	0.00	0.000	6	0.000	0.000	2951	2134	1395
15105	0.76	410.5	176.7	11.5	1414	15111	0.00	3.00	0.00	0.000	4	0.000	0.061	2951	634	1395
15146	0.83	410.5	172.1	10.6	1421	15153	0.15	2.83	0.00	0.000	6	0.059	0.040	2984	2117	1395
15481	0.71	410.5	113.0	18.6	1482	15491	0.15	2.67	0.00	0.000	4	0.137	0.052	2958	3468	1395
15518	0.71	410.5	107.1	13.8	1488	15526	0.00	2.70	0.00	0.000	6	0.000	0.045	2959	2092	1395
15851	0.71	410.5	65.3	12.7	1549	15857	0.00	2.88	0.00	0.000	4	0.000	0.064	2959	643	1395
15887	0.71	410.5	60.8	12.4	1555	15893	0.00	2.80	0.00	0.000	6	0.000	0.040	2959	2114	1395
16210	0.71	410.5	21.3	11.5	1616	16218	0.00	2.67	0.00	0.000	4	0.000	0.052	2958	3468	1395
16236	0.71	410.5	18.0	12.2	1620	16244	0.00	2.67	0.00	0.000	6	0.000	0.044	2961	2102	1395
16369	end climb: SURFACE_DEPTH_REACHED
state	16369	begin surface coast
16388	end surface coast: CONTROL_FINISHED_OK
state	16388	begin surface