Glider dive log

NAB Apr08 * SG143 * Dive index * Mission links * Dive 163 * 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 163 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 720 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 36 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 240 N_NOSURFACE 0 ROLL_ADJ_GAIN 3 DEVICE2 20

T_MISSION 270 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 -8238.1748 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 720 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 240

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 -8238.1748

CAPUPLOAD 0 HEADING 140 ROLL_ADJ_DBAND 0.029999999 T_MISSION 270

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 36 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 163 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 035338,6110.512,-2637.451,29,1.4,29,-18.6 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG 6102.273,-2633.964

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 0.89 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -57.4 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 035944,6110.545,-2637.325,12,1.3,12,-18.6 MHEAD_RNG_PITCHd_Wd 158.6,20000,-15.7,-10.000

SPEED_LIMITS 0.173,0.296 D_GRID 720

Post-dive calculations and measurements:

FINISH 0.1,1.014270 XPDR_PINGS 120

SM_CCo 12753,0.00,0.000,0,0,1506,383.89 _24V_AH 19.5,56.128

SM_GC 0.72,7.28,0.00,0.00,0.046,0.000,0.000,1466,2314,1506,-6.09,0.54,383.89 _10V_AH 9.8,40.277

IRIDIUM_FIX 6046.07,-2645.87,310797,232340 DATA_FILE_SIZE 114076,1549

TT8_MAMPS 0.021476 CAP_FILE_SIZE 131198,0

HUMID 1690 CFSIZE 260165632,240930816

INTERNAL_PRESSURE 8.16438 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 12.30 GPS 070508,073338,6109.928,-2632.269,28,1.5,28,-18.5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 19 246 95.30 SBE_CT 1139 24 533.49

Roll_motor 107 69 146.04 SBE_O2 1082 19 401.13

VBD_pump_during_apogee 577 1241 13987.55 Optode 645 33 415.37

VBD_pump_during_surface 0 0 0.00 WL_BB2F 881 105 1804.29

VBD_valve 0 0 0.00 WL_BBFL2VMT 1624 105 3326.76

Iridium_during_init 30 103 61.44 nil 0 0 0.00

Iridium_during_connect 29 160 91.43 nil 0 0 0.00

Iridium_during_xfer 193 223 840.72

Transponder_ping 30 420 245.70

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 14 50 6.87

TT8 2409 19 467.59

LPSleep 5983 2 128.42

TT8_Active 655 19 127.15

TT8_Sampling 3570 39 1392.80

TT8_CF8 486 45 218.16

TT8_Kalman 0 0 0.00

Analog_circuits 1963 12 230.87

GPS_charging 0 0 0.00

Compass 3581 8 280.82

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

26 -0.82 -194.7 0.0 0.0 0 129 0.00 0.00 -101.05 0.000 2 0.000 0.000 1468 2318 3563

132 -0.82 -194.7 3.6 -5.5 14 155 9.80 0.00 -6.78 0.000 6 0.246 0.000 2611 2318 3866

283 -0.70 -194.7 34.9 -18.7 41 291 0.17 2.80 0.00 0.000 4 0.151 0.061 2638 3686 3867

320 -0.70 -194.7 41.3 -15.0 47 328 0.00 2.72 0.00 0.000 6 0.000 0.042 2638 2297 3868

455 -0.65 -194.7 60.9 -14.3 72 463 0.12 0.00 0.00 0.000 6 0.151 0.000 2655 2295 3868

788 -0.65 -194.7 102.6 -12.6 133 794 0.00 2.78 0.00 0.000 4 0.000 0.055 2655 881 3868

835 -0.69 -194.7 108.3 -12.2 141 841 0.00 2.70 0.00 0.000 6 0.000 0.045 2655 2276 3868

1165 -0.69 -194.7 149.2 -12.1 202 1173 0.00 0.00 0.00 0.000 6 0.000 0.000 2655 2276 3868

1505 -0.69 -194.7 188.3 -11.3 263 1511 0.00 2.75 0.00 0.000 4 0.000 0.054 2655 881 3868

1529 -0.69 -194.7 190.9 -11.4 267 1536 0.00 2.72 0.00 0.000 6 0.000 0.045 2655 2291 3868

1872 -0.69 -194.7 231.5 -12.5 328 1881 0.00 0.00 0.00 0.000 6 0.000 0.000 2655 2292 3868

2218 -0.69 -194.7 276.2 -13.2 389 2224 0.00 2.78 0.00 0.000 4 0.000 0.055 2655 881 3868

2246 -0.69 -194.7 280.2 -13.6 394 2253 0.00 2.70 0.00 0.000 6 0.000 0.044 2655 2284 3868

2587 -0.69 -194.7 325.8 -13.8 455 2594 0.00 2.75 0.00 0.000 4 0.000 0.055 2655 883 3868

2605 -0.69 -194.7 328.2 -13.3 458 2611 0.00 2.70 0.00 0.000 6 0.000 0.044 2655 2286 3868

2943 -0.69 -194.7 373.3 -13.1 504 2944 0.00 0.00 0.00 0.000 6 0.000 0.000 2655 2286 3868

3262 -0.69 -194.7 413.8 -12.4 534 3264 0.00 0.00 0.00 0.000 6 0.000 0.000 2655 2286 3867

3579 -0.69 -194.7 452.8 -12.3 564 3584 0.00 2.75 0.00 0.000 4 0.000 0.056 2655 886 3868

3601 -0.69 -194.7 455.4 -11.7 565 3607 0.00 2.65 0.00 0.000 6 0.000 0.041 2655 2272 3867

3927 -0.69 -194.7 494.2 -12.1 596 3928 0.00 0.00 0.00 0.000 6 0.000 0.000 2655 2272 3868

4244 -0.69 -194.7 533.5 -12.7 626 4246 0.00 0.00 0.00 0.000 6 0.000 0.000 2655 2272 3868

4564 -0.69 -194.7 573.2 -13.0 656 4569 0.00 2.75 0.00 0.000 4 0.000 0.058 2655 884 3868

4604 -0.74 -194.7 578.4 -12.4 659 4608 0.00 2.65 0.00 0.000 6 0.000 0.043 2655 2263 3867

4934 -0.74 -194.7 618.2 -11.8 683 4935 0.00 0.00 0.00 0.000 6 0.000 0.000 2655 2263 3868

5243 -0.74 -194.7 653.1 -11.2 698 5248 0.00 2.90 0.00 0.000 4 0.000 0.063 2655 3703 3867

5264 -0.74 -194.7 655.5 -11.3 699 5269 0.00 2.83 0.00 0.000 6 0.000 0.048 2654 2259 3868

5584 -0.74 -194.7 690.6 -11.2 715 5585 0.00 0.00 0.00 0.000 6 0.000 0.000 2655 2259 3868

5850 end dive: TARGET_DEPTH_EXCEEDED

state 5850 begin apogee

5855 -0.19 0.0 720.6 11.8 728 6053 0.60 0.00 190.70 1.242 6 0.120 0.000 2756 2039 3071

6054 end apogee: CONTROL_FINISHED_OK

state 6054 begin climb

6057 0.82 194.7 730.1 0.0 738 6262 1.23 3.20 195.10 1.180 4 0.086 0.070 2972 650 2276

6334 0.71 194.7 711.0 11.3 751 6339 0.00 2.92 0.00 0.000 6 0.000 0.044 2972 2057 2274

6656 0.58 194.7 673.9 12.1 767 6661 0.25 2.88 0.00 0.000 4 0.131 0.058 2931 3462 2272

6740 0.60 208.2 665.3 9.5 771 6761 0.00 2.78 13.75 1.154 6 0.000 0.048 2931 2073 2222

7070 0.62 227.7 634.9 9.3 787 7096 0.00 2.83 20.25 1.154 4 0.000 0.055 2931 3465 2143

7152 0.62 228.5 626.9 10.0 791 7156 0.00 2.72 0.00 0.000 6 0.000 0.047 2930 2093 2141

7468 0.65 249.1 597.0 9.3 808 7496 0.00 2.80 22.30 1.144 4 0.000 0.054 2931 3469 2055

7523 0.66 257.9 591.7 9.7 812 7540 0.00 2.70 10.07 1.017 6 0.000 0.044 2931 2112 2019

7858 0.68 273.3 560.3 9.5 844 7880 0.00 2.75 16.12 1.118 4 0.000 0.053 2931 3472 1956

7903 0.70 288.2 556.0 9.5 848 7926 0.00 2.67 16.42 1.047 6 0.000 0.044 2940 2124 1896

8244 0.72 307.2 524.0 9.3 880 8266 0.00 0.00 19.52 1.097 6 0.000 0.000 2939 2124 1818

8584 0.75 334.8 492.6 9.0 912 8614 0.12 0.00 28.30 1.085 6 0.071 0.000 2963 2124 1706

8933 0.71 334.8 449.3 13.0 945 8938 0.00 2.67 0.00 0.000 4 0.000 0.051 2955 3467 1703

8960 0.71 334.8 445.4 13.0 947 8965 0.00 2.62 0.00 0.000 6 0.000 0.044 2960 2130 1701

9288 0.66 334.8 403.2 12.7 977 9293 0.00 0.00 0.00 0.000 6 0.000 0.000 2957 2130 1701

9613 0.62 334.8 362.0 12.1 1008 9618 0.15 2.65 0.00 0.000 4 0.123 0.051 2929 3469 1701

9641 0.62 334.8 358.9 10.7 1010 9645 0.00 2.58 0.00 0.000 6 0.000 0.044 2937 2146 1700

9975 0.72 381.6 330.4 8.4 1060 10030 0.12 3.10 45.10 1.003 4 0.071 0.062 2954 641 1514

10055 0.72 381.6 321.7 11.9 1073 10061 0.00 2.97 0.00 0.000 6 0.000 0.040 2956 2161 1513

10395 0.72 381.6 280.2 12.2 1134 10400 0.00 0.00 0.00 0.000 6 0.000 0.000 2956 2161 1510

10735 0.72 381.6 239.0 12.2 1195 10741 0.00 3.08 0.00 0.000 4 0.000 0.061 2955 637 1509

10779 0.72 381.6 233.7 11.9 1203 10786 0.00 2.88 0.00 0.000 6 0.000 0.040 2955 2141 1508

11120 0.72 381.6 191.0 13.5 1264 11128 0.00 0.00 0.00 0.000 6 0.000 0.000 2955 2141 1509

11463 0.72 381.6 146.5 13.3 1325 11469 0.00 3.03 0.00 0.000 4 0.000 0.062 2955 634 1508

11498 0.72 381.6 141.9 13.2 1331 11505 0.00 2.88 0.00 0.000 6 0.000 0.041 2955 2137 1508

11829 0.72 381.6 100.8 11.5 1392 11837 0.00 0.00 0.00 0.000 6 0.000 0.000 2955 2138 1508

12161 0.72 381.6 60.7 11.9 1453 12167 0.00 3.03 0.00 0.000 4 0.000 0.064 2955 634 1508

12189 0.72 381.6 57.3 11.4 1458 12197 0.00 2.88 0.00 0.000 6 0.000 0.040 2955 2127 1508

12513 0.72 381.6 19.4 11.7 1519 12521 0.00 0.00 0.00 0.000 6 0.000 0.000 2955 2127 1508

12647 0.72 381.6 3.0 11.8 1544 12654 0.00 0.00 0.00 0.000 6 0.000 0.000 2955 2128 1508

12660 end climb: SURFACE_DEPTH_REACHED

state 12660 begin surface coast

12678 end surface coast: CONTROL_FINISHED_OK

state 12678 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	163	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	720	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	36	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	240	N_NOSURFACE	0	ROLL_ADJ_GAIN	3	DEVICE2	20
T_MISSION	270	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	-8238.1748	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	035338,6110.512,-2637.451,29,1.4,29,-18.6	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	6102.273,-2633.964
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	0.89	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-57.4	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	035944,6110.545,-2637.325,12,1.3,12,-18.6	MHEAD_RNG_PITCHd_Wd	158.6,20000,-15.7,-10.000
SPEED_LIMITS	0.173,0.296	D_GRID	720

FINISH	0.1,1.014270	XPDR_PINGS	120
SM_CCo	12753,0.00,0.000,0,0,1506,383.89	_24V_AH	19.5,56.128
SM_GC	0.72,7.28,0.00,0.00,0.046,0.000,0.000,1466,2314,1506,-6.09,0.54,383.89	_10V_AH	9.8,40.277
IRIDIUM_FIX	6046.07,-2645.87,310797,232340	DATA_FILE_SIZE	114076,1549
TT8_MAMPS	0.021476	CAP_FILE_SIZE	131198,0
HUMID	1690	CFSIZE	260165632,240930816
INTERNAL_PRESSURE	8.16438	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	12.30	GPS	070508,073338,6109.928,-2632.269,28,1.5,28,-18.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	19	246	95.30	SBE_CT	1139	24	533.49
Roll_motor	107	69	146.04	SBE_O2	1082	19	401.13
VBD_pump_during_apogee	577	1241	13987.55	Optode	645	33	415.37
VBD_pump_during_surface	0	0	0.00	WL_BB2F	881	105	1804.29
VBD_valve	0	0	0.00	WL_BBFL2VMT	1624	105	3326.76
Iridium_during_init	30	103	61.44	nil	0	0	0.00
Iridium_during_connect	29	160	91.43	nil	0	0	0.00
Iridium_during_xfer	193	223	840.72
Transponder_ping	30	420	245.70
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	14	50	6.87
TT8	2409	19	467.59
LPSleep	5983	2	128.42
TT8_Active	655	19	127.15
TT8_Sampling	3570	39	1392.80
TT8_CF8	486	45	218.16
TT8_Kalman	0	0	0.00
Analog_circuits	1963	12	230.87
GPS_charging	0	0	0.00
Compass	3581	8	280.82
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
26	-0.82	-194.7	0.0	0.0	0	129	0.00	0.00	-101.05	0.000	2	0.000	0.000	1468	2318	3563
132	-0.82	-194.7	3.6	-5.5	14	155	9.80	0.00	-6.78	0.000	6	0.246	0.000	2611	2318	3866
283	-0.70	-194.7	34.9	-18.7	41	291	0.17	2.80	0.00	0.000	4	0.151	0.061	2638	3686	3867
320	-0.70	-194.7	41.3	-15.0	47	328	0.00	2.72	0.00	0.000	6	0.000	0.042	2638	2297	3868
455	-0.65	-194.7	60.9	-14.3	72	463	0.12	0.00	0.00	0.000	6	0.151	0.000	2655	2295	3868
788	-0.65	-194.7	102.6	-12.6	133	794	0.00	2.78	0.00	0.000	4	0.000	0.055	2655	881	3868
835	-0.69	-194.7	108.3	-12.2	141	841	0.00	2.70	0.00	0.000	6	0.000	0.045	2655	2276	3868
1165	-0.69	-194.7	149.2	-12.1	202	1173	0.00	0.00	0.00	0.000	6	0.000	0.000	2655	2276	3868
1505	-0.69	-194.7	188.3	-11.3	263	1511	0.00	2.75	0.00	0.000	4	0.000	0.054	2655	881	3868
1529	-0.69	-194.7	190.9	-11.4	267	1536	0.00	2.72	0.00	0.000	6	0.000	0.045	2655	2291	3868
1872	-0.69	-194.7	231.5	-12.5	328	1881	0.00	0.00	0.00	0.000	6	0.000	0.000	2655	2292	3868
2218	-0.69	-194.7	276.2	-13.2	389	2224	0.00	2.78	0.00	0.000	4	0.000	0.055	2655	881	3868
2246	-0.69	-194.7	280.2	-13.6	394	2253	0.00	2.70	0.00	0.000	6	0.000	0.044	2655	2284	3868
2587	-0.69	-194.7	325.8	-13.8	455	2594	0.00	2.75	0.00	0.000	4	0.000	0.055	2655	883	3868
2605	-0.69	-194.7	328.2	-13.3	458	2611	0.00	2.70	0.00	0.000	6	0.000	0.044	2655	2286	3868
2943	-0.69	-194.7	373.3	-13.1	504	2944	0.00	0.00	0.00	0.000	6	0.000	0.000	2655	2286	3868
3262	-0.69	-194.7	413.8	-12.4	534	3264	0.00	0.00	0.00	0.000	6	0.000	0.000	2655	2286	3867
3579	-0.69	-194.7	452.8	-12.3	564	3584	0.00	2.75	0.00	0.000	4	0.000	0.056	2655	886	3868
3601	-0.69	-194.7	455.4	-11.7	565	3607	0.00	2.65	0.00	0.000	6	0.000	0.041	2655	2272	3867
3927	-0.69	-194.7	494.2	-12.1	596	3928	0.00	0.00	0.00	0.000	6	0.000	0.000	2655	2272	3868
4244	-0.69	-194.7	533.5	-12.7	626	4246	0.00	0.00	0.00	0.000	6	0.000	0.000	2655	2272	3868
4564	-0.69	-194.7	573.2	-13.0	656	4569	0.00	2.75	0.00	0.000	4	0.000	0.058	2655	884	3868
4604	-0.74	-194.7	578.4	-12.4	659	4608	0.00	2.65	0.00	0.000	6	0.000	0.043	2655	2263	3867
4934	-0.74	-194.7	618.2	-11.8	683	4935	0.00	0.00	0.00	0.000	6	0.000	0.000	2655	2263	3868
5243	-0.74	-194.7	653.1	-11.2	698	5248	0.00	2.90	0.00	0.000	4	0.000	0.063	2655	3703	3867
5264	-0.74	-194.7	655.5	-11.3	699	5269	0.00	2.83	0.00	0.000	6	0.000	0.048	2654	2259	3868
5584	-0.74	-194.7	690.6	-11.2	715	5585	0.00	0.00	0.00	0.000	6	0.000	0.000	2655	2259	3868
5850	end dive: TARGET_DEPTH_EXCEEDED
state	5850	begin apogee
5855	-0.19	0.0	720.6	11.8	728	6053	0.60	0.00	190.70	1.242	6	0.120	0.000	2756	2039	3071
6054	end apogee: CONTROL_FINISHED_OK
state	6054	begin climb
6057	0.82	194.7	730.1	0.0	738	6262	1.23	3.20	195.10	1.180	4	0.086	0.070	2972	650	2276
6334	0.71	194.7	711.0	11.3	751	6339	0.00	2.92	0.00	0.000	6	0.000	0.044	2972	2057	2274
6656	0.58	194.7	673.9	12.1	767	6661	0.25	2.88	0.00	0.000	4	0.131	0.058	2931	3462	2272
6740	0.60	208.2	665.3	9.5	771	6761	0.00	2.78	13.75	1.154	6	0.000	0.048	2931	2073	2222
7070	0.62	227.7	634.9	9.3	787	7096	0.00	2.83	20.25	1.154	4	0.000	0.055	2931	3465	2143
7152	0.62	228.5	626.9	10.0	791	7156	0.00	2.72	0.00	0.000	6	0.000	0.047	2930	2093	2141
7468	0.65	249.1	597.0	9.3	808	7496	0.00	2.80	22.30	1.144	4	0.000	0.054	2931	3469	2055
7523	0.66	257.9	591.7	9.7	812	7540	0.00	2.70	10.07	1.017	6	0.000	0.044	2931	2112	2019
7858	0.68	273.3	560.3	9.5	844	7880	0.00	2.75	16.12	1.118	4	0.000	0.053	2931	3472	1956
7903	0.70	288.2	556.0	9.5	848	7926	0.00	2.67	16.42	1.047	6	0.000	0.044	2940	2124	1896
8244	0.72	307.2	524.0	9.3	880	8266	0.00	0.00	19.52	1.097	6	0.000	0.000	2939	2124	1818
8584	0.75	334.8	492.6	9.0	912	8614	0.12	0.00	28.30	1.085	6	0.071	0.000	2963	2124	1706
8933	0.71	334.8	449.3	13.0	945	8938	0.00	2.67	0.00	0.000	4	0.000	0.051	2955	3467	1703
8960	0.71	334.8	445.4	13.0	947	8965	0.00	2.62	0.00	0.000	6	0.000	0.044	2960	2130	1701
9288	0.66	334.8	403.2	12.7	977	9293	0.00	0.00	0.00	0.000	6	0.000	0.000	2957	2130	1701
9613	0.62	334.8	362.0	12.1	1008	9618	0.15	2.65	0.00	0.000	4	0.123	0.051	2929	3469	1701
9641	0.62	334.8	358.9	10.7	1010	9645	0.00	2.58	0.00	0.000	6	0.000	0.044	2937	2146	1700
9975	0.72	381.6	330.4	8.4	1060	10030	0.12	3.10	45.10	1.003	4	0.071	0.062	2954	641	1514
10055	0.72	381.6	321.7	11.9	1073	10061	0.00	2.97	0.00	0.000	6	0.000	0.040	2956	2161	1513
10395	0.72	381.6	280.2	12.2	1134	10400	0.00	0.00	0.00	0.000	6	0.000	0.000	2956	2161	1510
10735	0.72	381.6	239.0	12.2	1195	10741	0.00	3.08	0.00	0.000	4	0.000	0.061	2955	637	1509
10779	0.72	381.6	233.7	11.9	1203	10786	0.00	2.88	0.00	0.000	6	0.000	0.040	2955	2141	1508
11120	0.72	381.6	191.0	13.5	1264	11128	0.00	0.00	0.00	0.000	6	0.000	0.000	2955	2141	1509
11463	0.72	381.6	146.5	13.3	1325	11469	0.00	3.03	0.00	0.000	4	0.000	0.062	2955	634	1508
11498	0.72	381.6	141.9	13.2	1331	11505	0.00	2.88	0.00	0.000	6	0.000	0.041	2955	2137	1508
11829	0.72	381.6	100.8	11.5	1392	11837	0.00	0.00	0.00	0.000	6	0.000	0.000	2955	2138	1508
12161	0.72	381.6	60.7	11.9	1453	12167	0.00	3.03	0.00	0.000	4	0.000	0.064	2955	634	1508
12189	0.72	381.6	57.3	11.4	1458	12197	0.00	2.88	0.00	0.000	6	0.000	0.040	2955	2127	1508
12513	0.72	381.6	19.4	11.7	1519	12521	0.00	0.00	0.00	0.000	6	0.000	0.000	2955	2127	1508
12647	0.72	381.6	3.0	11.8	1544	12654	0.00	0.00	0.00	0.000	6	0.000	0.000	2955	2128	1508
12660	end climb: SURFACE_DEPTH_REACHED
state	12660	begin surface coast
12678	end surface coast: CONTROL_FINISHED_OK
state	12678	begin surface