Glider dive log

NAB Apr08 * SG143 * Dive index * Mission links * Dive 200 * 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 340 PITCH_ADJ_GAIN 0.02 ALTIM_BOTTOM_TURN_MARGIN 0

DIVE 200 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 18 DEEPGLIDER 0

SURFACE_URGENCY 0 COMM_SEQ 0 R_STBD_OVSHOOT 17 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 -9057.7734 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 -9057.7734

CAPUPLOAD 0 HEADING 340 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 18 USE_ICE 0

DEEPGLIDER 0 MAX_BUOY 200 R_STBD_OVSHOOT 17 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 200 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 135107,6103.028,-2618.462,35,1.0,40,-18.3 TGT_NAME HEADING

_CALLS 2 TGT_LATLONG 6113.151,-2620.381

_XMS_NAKs 2 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 0.83 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -47.1 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 140121,6103.003,-2618.603,15,1.6,15,-18.3 MHEAD_RNG_PITCHd_Wd 358.3,20000,-15.7,-10.000

SPEED_LIMITS 0.173,0.296 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.3,1.027284 XPDR_PINGS 244

SM_CCo 17264,0.00,0.000,0,0,1551,372.86 _24V_AH 19.2,65.952

SM_GC 0.90,7.25,0.00,0.00,0.045,0.000,0.000,1469,2317,1551,-6.08,0.65,372.86 _10V_AH 9.9,46.249

IRIDIUM_FIX 6041.65,-2619.99,080897,141444 DATA_FILE_SIZE 123311,1748

TT8_MAMPS 0.021476 CAP_FILE_SIZE 156749,0

HUMID 1748 CFSIZE 260165632,237608960

INTERNAL_PRESSURE 8.17414 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 16.80 GPS 140508,185057,6105.576,-2621.065,38,99.0,57,-18.4

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 21 246 100.41 SBE_CT 1305 24 601.72

Roll_motor 122 70 165.63 SBE_O2 1232 19 449.48

VBD_pump_during_apogee 589 1431 16194.76 Optode 640 33 405.73

VBD_pump_during_surface 0 0 0.00 WL_BB2F 907 105 1828.60

VBD_valve 0 0 0.00 WL_BBFL2VMT 0 105 0.00

Iridium_during_init 61 103 121.34 nil 0 0 0.00

Iridium_during_connect 69 160 214.22 nil 0 0 0.00

Iridium_during_xfer 293 223 1257.02

Transponder_ping 61 420 491.90

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 17 50 8.54

TT8 2751 19 539.27

LPSleep 10671 2 231.38

TT8_Active 698 19 136.92

TT8_Sampling 3049 39 1201.44

TT8_CF8 694 45 314.74

TT8_Kalman 0 0 0.00

Analog_circuits 2142 12 254.49

GPS_charging 0 0 0.00

Compass 3025 8 239.62

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

24 end surface: CONTROL_FINISHED_OK

state 24 begin dive

27 -0.82 -194.7 0.0 0.0 0 134 0.00 0.00 -104.28 0.000 2 0.000 0.000 1467 2311 3346

136 -0.82 -194.7 3.2 -6.4 19 167 9.82 2.85 -12.90 0.000 4 0.247 0.071 2615 3715 3865

293 -0.74 -194.7 31.3 -16.6 46 300 0.15 2.75 0.00 0.000 6 0.141 0.040 2636 2284 3866

437 -0.68 -194.7 52.1 -14.1 71 442 0.00 0.00 0.00 0.000 6 0.000 0.000 2636 2282 3867

779 -0.63 -194.7 102.2 -14.4 132 785 0.15 0.00 0.00 0.000 6 0.140 0.000 2661 2281 3866

1124 -0.63 -194.7 145.4 -12.7 193 1129 0.00 0.00 0.00 0.000 6 0.000 0.000 2661 2281 3866

1466 -0.63 -194.7 186.6 -11.5 254 1471 0.00 0.00 0.00 0.000 6 0.000 0.000 2661 2281 3867

1808 -0.63 -194.7 227.3 -11.8 315 1813 0.00 0.00 0.00 0.000 6 0.000 0.000 2661 2281 3866

2151 -0.63 -194.7 267.8 -12.2 376 2156 0.00 0.00 0.00 0.000 6 0.000 0.000 2661 2281 3866

2494 -0.63 -194.7 309.8 -12.9 437 2499 0.00 0.00 0.00 0.000 6 0.000 0.000 2661 2281 3866

2836 -0.63 -194.7 348.4 -10.7 498 2841 0.00 0.00 0.00 0.000 6 0.000 0.000 2661 2281 3866

3161 -0.63 -194.7 383.0 -11.5 530 3162 0.00 0.00 0.00 0.000 6 0.000 0.000 2661 2281 3867

3479 -0.63 -194.7 421.3 -11.9 560 3480 0.00 0.00 0.00 0.000 6 0.000 0.000 2661 2281 3867

3799 -0.63 -194.7 459.6 -11.7 590 3801 0.00 0.00 0.00 0.000 6 0.000 0.000 2661 2281 3866

4116 -0.63 -194.7 496.0 -11.0 620 4117 0.00 0.00 0.00 0.000 6 0.000 0.000 2661 2281 3866

4435 -0.63 -194.7 532.1 -11.5 650 4439 0.00 2.75 0.00 0.000 4 0.000 0.057 2661 883 3866

4478 -0.70 -194.7 537.1 -10.9 653 4485 0.00 2.70 0.00 0.000 6 0.000 0.043 2661 2292 3866

4804 -0.70 -194.7 574.0 -11.5 684 4809 0.00 2.83 0.00 0.000 4 0.000 0.061 2661 3711 3866

4848 -0.76 -194.7 579.5 -11.6 687 4855 0.15 2.75 0.00 0.000 6 0.064 0.043 2630 2287 3866

5168 -0.71 -194.7 624.9 -14.3 710 5173 0.00 2.78 0.00 0.000 4 0.000 0.061 2630 878 3865

5218 -0.71 -194.7 632.0 -13.2 712 5222 0.00 2.72 0.00 0.000 6 0.000 0.044 2630 2286 3865

5533 -0.67 -194.7 673.4 -13.1 727 5535 0.12 0.00 0.00 0.000 6 0.136 0.000 2648 2288 3865

5842 -0.67 -194.7 708.1 -10.5 742 5843 0.00 0.00 0.00 0.000 6 0.000 0.000 2649 2290 3865

6151 -0.67 -194.7 740.8 -10.6 757 6153 0.00 0.00 0.00 0.000 6 0.000 0.000 2649 2291 3865

6460 -0.67 -194.7 775.0 -11.2 772 6461 0.00 0.00 0.00 0.000 6 0.000 0.000 2649 2291 3865

6770 -0.67 -194.7 812.7 -12.8 787 6771 0.00 0.00 0.00 0.000 6 0.000 0.000 2649 2291 3865

7079 -0.67 -194.7 850.4 -11.9 802 7084 0.00 2.85 0.00 0.000 4 0.000 0.069 2649 884 3864

7119 -0.72 -194.7 855.0 -12.0 804 7123 0.00 2.75 0.00 0.000 6 0.000 0.048 2649 2295 3864

7444 -0.72 -194.7 892.0 -11.4 820 7445 0.00 0.00 0.00 0.000 6 0.000 0.000 2649 2295 3864

7754 -0.72 -194.7 925.3 -10.6 835 7755 0.00 0.00 0.00 0.000 6 0.000 0.000 2649 2296 3864

8063 -0.72 -194.7 959.7 -11.4 850 8064 0.00 0.00 0.00 0.000 6 0.000 0.000 2650 2297 3863

8349 end dive: TARGET_DEPTH_EXCEEDED

state 8349 begin apogee

8355 -0.19 0.0 992.2 11.0 864 8558 0.62 0.00 199.82 1.432 6 0.118 0.000 2755 2036 3071

8559 end apogee: CONTROL_FINISHED_OK

state 8559 begin climb

8561 0.82 194.7 1002.0 0.0 874 8779 1.25 3.20 206.82 1.361 4 0.087 0.071 2969 650 2277

8857 0.70 194.7 979.9 11.6 888 8862 0.00 2.92 0.00 0.000 6 0.000 0.045 2971 2053 2273

9178 0.58 194.7 940.5 12.1 904 9183 0.25 2.90 0.00 0.000 4 0.133 0.062 2929 3464 2271

9222 0.58 198.6 935.9 9.9 906 9231 0.00 2.85 4.38 0.912 6 0.000 0.052 2929 2058 2261

9549 0.59 234.2 907.1 8.8 922 9593 0.00 3.00 37.00 1.371 4 0.000 0.060 2929 3467 2115

9634 0.60 243.0 899.1 9.7 926 9650 0.00 2.85 10.68 1.223 6 0.000 0.052 2929 2071 2080

9959 0.60 243.0 866.7 10.6 941 9960 0.00 0.00 0.00 0.000 6 0.000 0.000 2929 2069 2077

10268 0.60 243.0 836.4 10.2 956 10273 0.00 2.83 0.00 0.000 4 0.000 0.059 2929 3469 2076

10317 0.60 243.0 831.2 10.6 958 10321 0.00 2.78 0.00 0.000 6 0.000 0.051 2929 2080 2075

10638 0.62 258.2 800.4 9.5 974 10660 0.00 2.83 16.23 1.354 4 0.000 0.058 2929 3465 2018

10677 0.30 258.2 796.6 10.1 975 10684 0.38 2.75 0.00 0.000 6 0.116 0.051 2868 2100 2017

10992 0.74 320.6 774.7 7.8 991 11059 0.45 0.00 63.72 1.297 6 0.080 0.000 2954 2099 1763

11365 0.95 369.7 743.7 8.3 1009 11422 0.22 3.08 50.38 1.268 4 0.052 0.069 3009 643 1562

11462 0.84 369.7 732.0 15.5 1012 11469 0.17 3.15 0.00 0.000 6 0.142 0.047 2986 2214 1558

11777 0.69 369.7 675.0 18.6 1028 11783 0.17 3.25 0.00 0.000 4 0.143 0.068 2956 640 1555

11827 0.69 369.7 667.3 13.1 1030 11832 0.00 3.00 0.00 0.000 6 0.000 0.045 2957 2173 1555

12143 0.69 369.7 624.2 14.1 1045 12148 0.00 3.15 0.00 0.000 4 0.000 0.067 2956 634 1554

12175 0.69 369.7 619.5 13.1 1046 12182 0.00 2.95 0.00 0.000 6 0.000 0.044 2956 2153 1554

12497 0.69 369.7 576.4 12.3 1070 12502 0.00 3.08 0.00 0.000 4 0.000 0.065 2955 641 1554

12518 0.69 369.7 573.3 13.4 1071 12525 0.00 2.90 0.00 0.000 6 0.000 0.044 2957 2148 1553

12844 0.69 369.7 531.0 13.5 1102 12849 0.00 3.05 0.00 0.000 4 0.000 0.064 2955 641 1553

12872 0.69 369.7 527.0 13.8 1104 12876 0.00 2.88 0.00 0.000 6 0.000 0.042 2956 2134 1553

13197 0.69 369.7 484.7 12.8 1134 13199 0.00 0.00 0.00 0.000 6 0.000 0.000 2956 2134 1553

13515 0.69 369.7 443.1 13.0 1164 13520 0.00 3.03 0.00 0.000 4 0.000 0.063 2955 634 1553

13553 0.69 369.7 438.0 12.9 1167 13558 0.00 2.83 0.00 0.000 6 0.000 0.040 2956 2113 1552

13879 0.69 369.7 397.4 12.4 1197 13880 0.00 0.00 0.00 0.000 6 0.000 0.000 2957 2113 1552

14196 0.69 369.7 360.0 11.2 1227 14201 0.00 2.97 0.00 0.000 4 0.000 0.061 2956 632 1552

14224 0.69 369.7 356.7 11.3 1229 14229 0.00 2.83 0.00 0.000 6 0.000 0.041 2958 2111 1552

14563 0.69 369.7 318.3 12.1 1283 14568 0.00 0.00 0.00 0.000 6 0.000 0.000 2957 2111 1552

14905 0.69 369.7 276.7 11.9 1344 14911 0.00 2.95 0.00 0.000 4 0.000 0.061 2955 637 1552

14935 0.69 369.7 273.0 12.4 1349 14941 0.00 2.80 0.00 0.000 6 0.000 0.040 2957 2105 1552

15277 0.69 369.7 231.7 12.0 1410 15283 0.00 0.00 0.00 0.000 6 0.000 0.000 2958 2106 1552

15620 0.69 369.7 189.8 12.2 1471 15626 0.00 2.95 0.00 0.000 4 0.000 0.061 2956 637 1552

15643 0.69 369.7 186.9 12.7 1475 15649 0.00 2.78 0.00 0.000 6 0.000 0.040 2959 2092 1552

15988 0.69 369.7 146.2 12.3 1536 15994 0.00 0.00 0.00 0.000 6 0.000 0.000 2958 2092 1552

16332 0.69 369.7 102.0 12.4 1597 16337 0.00 0.00 0.00 0.000 6 0.000 0.000 2958 2092 1552

16675 0.69 369.7 59.0 12.0 1658 16681 0.00 2.92 0.00 0.000 4 0.000 0.062 2955 634 1552

16706 0.69 369.7 55.3 12.9 1663 16712 0.00 2.75 0.00 0.000 6 0.000 0.039 2957 2078 1552

17050 0.69 369.7 15.4 12.2 1724 17056 0.00 2.70 0.00 0.000 4 0.000 0.053 2955 3459 1552

17068 0.69 369.7 13.1 12.7 1727 17074 0.00 2.65 0.00 0.000 6 0.000 0.042 2955 2076 1552

17168 end climb: SURFACE_DEPTH_REACHED

state 17168 begin surface coast

17188 end surface coast: CONTROL_FINISHED_OK

state 17188 begin surface

ID	143	HD_C	9.8541004e-06	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0
MISSION	4	HEADING	340	PITCH_ADJ_GAIN	0.02	ALTIM_BOTTOM_TURN_MARGIN	0
DIVE	200	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	18	DEEPGLIDER	0
SURFACE_URGENCY	0	COMM_SEQ	0	R_STBD_OVSHOOT	17	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	-9057.7734	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	135107,6103.028,-2618.462,35,1.0,40,-18.3	TGT_NAME	HEADING
_CALLS	2	TGT_LATLONG	6113.151,-2620.381
_XMS_NAKs	2	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	0.83	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-47.1	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	140121,6103.003,-2618.603,15,1.6,15,-18.3	MHEAD_RNG_PITCHd_Wd	358.3,20000,-15.7,-10.000
SPEED_LIMITS	0.173,0.296	D_GRID	990

FINISH	0.3,1.027284	XPDR_PINGS	244
SM_CCo	17264,0.00,0.000,0,0,1551,372.86	_24V_AH	19.2,65.952
SM_GC	0.90,7.25,0.00,0.00,0.045,0.000,0.000,1469,2317,1551,-6.08,0.65,372.86	_10V_AH	9.9,46.249
IRIDIUM_FIX	6041.65,-2619.99,080897,141444	DATA_FILE_SIZE	123311,1748
TT8_MAMPS	0.021476	CAP_FILE_SIZE	156749,0
HUMID	1748	CFSIZE	260165632,237608960
INTERNAL_PRESSURE	8.17414	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	16.80	GPS	140508,185057,6105.576,-2621.065,38,99.0,57,-18.4

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	21	246	100.41	SBE_CT	1305	24	601.72
Roll_motor	122	70	165.63	SBE_O2	1232	19	449.48
VBD_pump_during_apogee	589	1431	16194.76	Optode	640	33	405.73
VBD_pump_during_surface	0	0	0.00	WL_BB2F	907	105	1828.60
VBD_valve	0	0	0.00	WL_BBFL2VMT	0	105	0.00
Iridium_during_init	61	103	121.34	nil	0	0	0.00
Iridium_during_connect	69	160	214.22	nil	0	0	0.00
Iridium_during_xfer	293	223	1257.02
Transponder_ping	61	420	491.90
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	17	50	8.54
TT8	2751	19	539.27
LPSleep	10671	2	231.38
TT8_Active	698	19	136.92
TT8_Sampling	3049	39	1201.44
TT8_CF8	694	45	314.74
TT8_Kalman	0	0	0.00
Analog_circuits	2142	12	254.49
GPS_charging	0	0	0.00
Compass	3025	8	239.62
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
24	end surface: CONTROL_FINISHED_OK
state	24	begin dive
27	-0.82	-194.7	0.0	0.0	0	134	0.00	0.00	-104.28	0.000	2	0.000	0.000	1467	2311	3346
136	-0.82	-194.7	3.2	-6.4	19	167	9.82	2.85	-12.90	0.000	4	0.247	0.071	2615	3715	3865
293	-0.74	-194.7	31.3	-16.6	46	300	0.15	2.75	0.00	0.000	6	0.141	0.040	2636	2284	3866
437	-0.68	-194.7	52.1	-14.1	71	442	0.00	0.00	0.00	0.000	6	0.000	0.000	2636	2282	3867
779	-0.63	-194.7	102.2	-14.4	132	785	0.15	0.00	0.00	0.000	6	0.140	0.000	2661	2281	3866
1124	-0.63	-194.7	145.4	-12.7	193	1129	0.00	0.00	0.00	0.000	6	0.000	0.000	2661	2281	3866
1466	-0.63	-194.7	186.6	-11.5	254	1471	0.00	0.00	0.00	0.000	6	0.000	0.000	2661	2281	3867
1808	-0.63	-194.7	227.3	-11.8	315	1813	0.00	0.00	0.00	0.000	6	0.000	0.000	2661	2281	3866
2151	-0.63	-194.7	267.8	-12.2	376	2156	0.00	0.00	0.00	0.000	6	0.000	0.000	2661	2281	3866
2494	-0.63	-194.7	309.8	-12.9	437	2499	0.00	0.00	0.00	0.000	6	0.000	0.000	2661	2281	3866
2836	-0.63	-194.7	348.4	-10.7	498	2841	0.00	0.00	0.00	0.000	6	0.000	0.000	2661	2281	3866
3161	-0.63	-194.7	383.0	-11.5	530	3162	0.00	0.00	0.00	0.000	6	0.000	0.000	2661	2281	3867
3479	-0.63	-194.7	421.3	-11.9	560	3480	0.00	0.00	0.00	0.000	6	0.000	0.000	2661	2281	3867
3799	-0.63	-194.7	459.6	-11.7	590	3801	0.00	0.00	0.00	0.000	6	0.000	0.000	2661	2281	3866
4116	-0.63	-194.7	496.0	-11.0	620	4117	0.00	0.00	0.00	0.000	6	0.000	0.000	2661	2281	3866
4435	-0.63	-194.7	532.1	-11.5	650	4439	0.00	2.75	0.00	0.000	4	0.000	0.057	2661	883	3866
4478	-0.70	-194.7	537.1	-10.9	653	4485	0.00	2.70	0.00	0.000	6	0.000	0.043	2661	2292	3866
4804	-0.70	-194.7	574.0	-11.5	684	4809	0.00	2.83	0.00	0.000	4	0.000	0.061	2661	3711	3866
4848	-0.76	-194.7	579.5	-11.6	687	4855	0.15	2.75	0.00	0.000	6	0.064	0.043	2630	2287	3866
5168	-0.71	-194.7	624.9	-14.3	710	5173	0.00	2.78	0.00	0.000	4	0.000	0.061	2630	878	3865
5218	-0.71	-194.7	632.0	-13.2	712	5222	0.00	2.72	0.00	0.000	6	0.000	0.044	2630	2286	3865
5533	-0.67	-194.7	673.4	-13.1	727	5535	0.12	0.00	0.00	0.000	6	0.136	0.000	2648	2288	3865
5842	-0.67	-194.7	708.1	-10.5	742	5843	0.00	0.00	0.00	0.000	6	0.000	0.000	2649	2290	3865
6151	-0.67	-194.7	740.8	-10.6	757	6153	0.00	0.00	0.00	0.000	6	0.000	0.000	2649	2291	3865
6460	-0.67	-194.7	775.0	-11.2	772	6461	0.00	0.00	0.00	0.000	6	0.000	0.000	2649	2291	3865
6770	-0.67	-194.7	812.7	-12.8	787	6771	0.00	0.00	0.00	0.000	6	0.000	0.000	2649	2291	3865
7079	-0.67	-194.7	850.4	-11.9	802	7084	0.00	2.85	0.00	0.000	4	0.000	0.069	2649	884	3864
7119	-0.72	-194.7	855.0	-12.0	804	7123	0.00	2.75	0.00	0.000	6	0.000	0.048	2649	2295	3864
7444	-0.72	-194.7	892.0	-11.4	820	7445	0.00	0.00	0.00	0.000	6	0.000	0.000	2649	2295	3864
7754	-0.72	-194.7	925.3	-10.6	835	7755	0.00	0.00	0.00	0.000	6	0.000	0.000	2649	2296	3864
8063	-0.72	-194.7	959.7	-11.4	850	8064	0.00	0.00	0.00	0.000	6	0.000	0.000	2650	2297	3863
8349	end dive: TARGET_DEPTH_EXCEEDED
state	8349	begin apogee
8355	-0.19	0.0	992.2	11.0	864	8558	0.62	0.00	199.82	1.432	6	0.118	0.000	2755	2036	3071
8559	end apogee: CONTROL_FINISHED_OK
state	8559	begin climb
8561	0.82	194.7	1002.0	0.0	874	8779	1.25	3.20	206.82	1.361	4	0.087	0.071	2969	650	2277
8857	0.70	194.7	979.9	11.6	888	8862	0.00	2.92	0.00	0.000	6	0.000	0.045	2971	2053	2273
9178	0.58	194.7	940.5	12.1	904	9183	0.25	2.90	0.00	0.000	4	0.133	0.062	2929	3464	2271
9222	0.58	198.6	935.9	9.9	906	9231	0.00	2.85	4.38	0.912	6	0.000	0.052	2929	2058	2261
9549	0.59	234.2	907.1	8.8	922	9593	0.00	3.00	37.00	1.371	4	0.000	0.060	2929	3467	2115
9634	0.60	243.0	899.1	9.7	926	9650	0.00	2.85	10.68	1.223	6	0.000	0.052	2929	2071	2080
9959	0.60	243.0	866.7	10.6	941	9960	0.00	0.00	0.00	0.000	6	0.000	0.000	2929	2069	2077
10268	0.60	243.0	836.4	10.2	956	10273	0.00	2.83	0.00	0.000	4	0.000	0.059	2929	3469	2076
10317	0.60	243.0	831.2	10.6	958	10321	0.00	2.78	0.00	0.000	6	0.000	0.051	2929	2080	2075
10638	0.62	258.2	800.4	9.5	974	10660	0.00	2.83	16.23	1.354	4	0.000	0.058	2929	3465	2018
10677	0.30	258.2	796.6	10.1	975	10684	0.38	2.75	0.00	0.000	6	0.116	0.051	2868	2100	2017
10992	0.74	320.6	774.7	7.8	991	11059	0.45	0.00	63.72	1.297	6	0.080	0.000	2954	2099	1763
11365	0.95	369.7	743.7	8.3	1009	11422	0.22	3.08	50.38	1.268	4	0.052	0.069	3009	643	1562
11462	0.84	369.7	732.0	15.5	1012	11469	0.17	3.15	0.00	0.000	6	0.142	0.047	2986	2214	1558
11777	0.69	369.7	675.0	18.6	1028	11783	0.17	3.25	0.00	0.000	4	0.143	0.068	2956	640	1555
11827	0.69	369.7	667.3	13.1	1030	11832	0.00	3.00	0.00	0.000	6	0.000	0.045	2957	2173	1555
12143	0.69	369.7	624.2	14.1	1045	12148	0.00	3.15	0.00	0.000	4	0.000	0.067	2956	634	1554
12175	0.69	369.7	619.5	13.1	1046	12182	0.00	2.95	0.00	0.000	6	0.000	0.044	2956	2153	1554
12497	0.69	369.7	576.4	12.3	1070	12502	0.00	3.08	0.00	0.000	4	0.000	0.065	2955	641	1554
12518	0.69	369.7	573.3	13.4	1071	12525	0.00	2.90	0.00	0.000	6	0.000	0.044	2957	2148	1553
12844	0.69	369.7	531.0	13.5	1102	12849	0.00	3.05	0.00	0.000	4	0.000	0.064	2955	641	1553
12872	0.69	369.7	527.0	13.8	1104	12876	0.00	2.88	0.00	0.000	6	0.000	0.042	2956	2134	1553
13197	0.69	369.7	484.7	12.8	1134	13199	0.00	0.00	0.00	0.000	6	0.000	0.000	2956	2134	1553
13515	0.69	369.7	443.1	13.0	1164	13520	0.00	3.03	0.00	0.000	4	0.000	0.063	2955	634	1553
13553	0.69	369.7	438.0	12.9	1167	13558	0.00	2.83	0.00	0.000	6	0.000	0.040	2956	2113	1552
13879	0.69	369.7	397.4	12.4	1197	13880	0.00	0.00	0.00	0.000	6	0.000	0.000	2957	2113	1552
14196	0.69	369.7	360.0	11.2	1227	14201	0.00	2.97	0.00	0.000	4	0.000	0.061	2956	632	1552
14224	0.69	369.7	356.7	11.3	1229	14229	0.00	2.83	0.00	0.000	6	0.000	0.041	2958	2111	1552
14563	0.69	369.7	318.3	12.1	1283	14568	0.00	0.00	0.00	0.000	6	0.000	0.000	2957	2111	1552
14905	0.69	369.7	276.7	11.9	1344	14911	0.00	2.95	0.00	0.000	4	0.000	0.061	2955	637	1552
14935	0.69	369.7	273.0	12.4	1349	14941	0.00	2.80	0.00	0.000	6	0.000	0.040	2957	2105	1552
15277	0.69	369.7	231.7	12.0	1410	15283	0.00	0.00	0.00	0.000	6	0.000	0.000	2958	2106	1552
15620	0.69	369.7	189.8	12.2	1471	15626	0.00	2.95	0.00	0.000	4	0.000	0.061	2956	637	1552
15643	0.69	369.7	186.9	12.7	1475	15649	0.00	2.78	0.00	0.000	6	0.000	0.040	2959	2092	1552
15988	0.69	369.7	146.2	12.3	1536	15994	0.00	0.00	0.00	0.000	6	0.000	0.000	2958	2092	1552
16332	0.69	369.7	102.0	12.4	1597	16337	0.00	0.00	0.00	0.000	6	0.000	0.000	2958	2092	1552
16675	0.69	369.7	59.0	12.0	1658	16681	0.00	2.92	0.00	0.000	4	0.000	0.062	2955	634	1552
16706	0.69	369.7	55.3	12.9	1663	16712	0.00	2.75	0.00	0.000	6	0.000	0.039	2957	2078	1552
17050	0.69	369.7	15.4	12.2	1724	17056	0.00	2.70	0.00	0.000	4	0.000	0.053	2955	3459	1552
17068	0.69	369.7	13.1	12.7	1727	17074	0.00	2.65	0.00	0.000	6	0.000	0.042	2955	2076	1552
17168	end climb: SURFACE_DEPTH_REACHED
state	17168	begin surface coast
17188	end surface coast: CONTROL_FINISHED_OK
state	17188	begin surface