Glider dive log

NAB Apr08 * SG143 * Dive index * Mission links * Dive 208 * 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 45 PITCH_ADJ_GAIN 0.02 ALTIM_BOTTOM_TURN_MARGIN 0

DIVE 208 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 26 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 -9212.4629 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 -9212.4629

CAPUPLOAD 0 HEADING 45 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 26 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 208 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 055057,6130.896,-2640.607,34,99.0,53,-18.8 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG 6138.564,-2637.082

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 0.97 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -53.2 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 055715,6130.928,-2640.708,11,1.7,11,-18.8 MHEAD_RNG_PITCHd_Wd 63.8,20000,-15.7,-10.000

SPEED_LIMITS 0.173,0.296 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.3,1.013345 XPDR_PINGS 20

SM_CCo 16257,0.00,0.000,0,0,690,584.06 _24V_AH 19.1,68.089

SM_GC 0.91,7.65,0.00,0.00,0.044,0.000,0.000,1466,2310,690,-6.10,0.42,584.06 _10V_AH 9.8,47.290

IRIDIUM_FIX 6103.81,-2631.89,100897,010117 DATA_FILE_SIZE 114009,1595

TT8_MAMPS 0.021476 CAP_FILE_SIZE 152880,0

HUMID 1734 CFSIZE 260165632,236916736

INTERNAL_PRESSURE 8.07648 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 16.40 GPS 160508,102937,6132.366,-2637.962,31,1.5,31,-18.8

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 23 246 108.86 SBE_CT 1195 24 548.08

Roll_motor 142 72 196.20 SBE_O2 1122 19 407.48

VBD_pump_during_apogee 807 1428 22048.84 Optode 575 33 362.57

VBD_pump_during_surface 0 0 0.00 WL_BB2F 783 105 1570.39

VBD_valve 0 0 0.00 WL_BBFL2VMT 0 105 0.00

Iridium_during_init 29 103 57.57 nil 0 0 0.00

Iridium_during_connect 29 160 88.73 nil 0 0 0.00

Iridium_during_xfer 202 223 864.25

Transponder_ping 5 420 40.11

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 14 50 6.89

TT8 2510 19 487.08

LPSleep 9885 2 212.16

TT8_Active 856 19 166.21

TT8_Sampling 2856 39 1114.29

TT8_CF8 512 45 230.02

TT8_Kalman 0 0 0.00

Analog_circuits 2280 12 268.20

GPS_charging 0 0 0.00

Compass 2829 8 221.83

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 0 138 0.00 0.00 -109.68 0.000 2 0.000 0.000 1467 2305 3362

141 -0.82 -194.7 3.3 -5.4 20 171 9.80 2.85 -12.62 0.000 4 0.246 0.072 2613 3705 3867

207 -0.72 -194.7 15.7 -16.9 31 215 0.17 2.75 0.00 0.000 6 0.137 0.041 2638 2284 3868

352 -0.68 -194.7 36.9 -14.5 56 358 0.00 0.00 0.00 0.000 6 0.000 0.000 2638 2284 3868

493 -0.64 -194.7 57.1 -14.2 81 499 0.12 0.00 0.00 0.000 6 0.144 0.000 2656 2284 3868

835 -0.64 -194.7 96.9 -11.6 142 841 0.00 0.00 0.00 0.000 6 0.000 0.000 2656 2282 3868

1181 -0.64 -194.7 136.4 -12.1 203 1186 0.00 0.00 0.00 0.000 6 0.000 0.000 2656 2282 3868

1525 -0.64 -194.7 176.4 -12.1 264 1531 0.00 2.72 0.00 0.000 4 0.000 0.056 2656 887 3868

1555 -0.68 -194.7 180.0 -11.8 269 1561 0.00 2.72 0.00 0.000 6 0.000 0.046 2656 2292 3868

1899 -0.68 -194.7 222.5 -12.1 330 1904 0.00 0.00 0.00 0.000 6 0.000 0.000 2656 2292 3868

2241 -0.68 -194.7 264.7 -12.2 391 2247 0.00 0.00 0.00 0.000 6 0.000 0.000 2656 2292 3868

2585 -0.68 -194.7 306.6 -12.1 452 2591 0.00 2.78 0.00 0.000 4 0.000 0.055 2656 882 3868

2631 -0.75 -194.7 312.5 -12.0 460 2637 0.00 2.72 0.00 0.000 6 0.000 0.044 2656 2301 3868

2978 -0.75 -194.7 352.7 -11.4 520 2980 0.00 0.00 0.00 0.000 6 0.000 0.000 2656 2301 3868

3297 -0.75 -194.7 389.4 -11.3 550 3298 0.00 0.00 0.00 0.000 6 0.000 0.000 2656 2301 3868

3615 -0.75 -194.7 425.3 -11.3 580 3620 0.00 2.80 0.00 0.000 4 0.000 0.055 2656 882 3868

3654 -0.80 -194.7 429.5 -10.7 583 3660 0.17 2.72 0.00 0.000 6 0.056 0.044 2619 2297 3868

3979 -0.74 -194.7 476.2 -14.3 613 3984 0.12 2.80 0.00 0.000 4 0.136 0.056 2636 3707 3868

4018 -0.74 -194.7 481.4 -12.8 616 4023 0.00 2.75 0.00 0.000 6 0.000 0.042 2636 2282 3867

4344 -0.74 -194.7 522.9 -12.9 646 4345 0.00 0.00 0.00 0.000 6 0.000 0.000 2636 2279 3868

4661 -0.74 -194.7 563.1 -12.4 676 4665 0.00 2.75 0.00 0.000 4 0.000 0.058 2636 883 3868

4688 -0.74 -194.7 566.4 -12.5 678 4693 0.00 2.72 0.00 0.000 6 0.000 0.044 2636 2295 3868

5011 -0.74 -194.7 606.0 -12.4 706 5012 0.00 0.00 0.00 0.000 6 0.000 0.000 2636 2295 3867

5320 -0.74 -194.7 645.0 -12.7 721 5321 0.00 0.00 0.00 0.000 6 0.000 0.000 2636 2295 3868

5630 -0.74 -194.7 684.9 -12.8 736 5631 0.00 0.00 0.00 0.000 6 0.000 0.000 2636 2296 3868

5939 -0.74 -194.7 723.9 -12.5 751 5943 0.00 2.88 0.00 0.000 4 0.000 0.069 2637 886 3867

5970 -0.74 -194.7 728.1 -12.9 752 5977 0.00 2.72 0.00 0.000 6 0.000 0.049 2636 2278 3867

6286 -0.74 -194.7 768.1 -12.6 768 6288 0.00 0.00 0.00 0.000 6 0.000 0.000 2636 2278 3867

6595 -0.74 -194.7 806.3 -12.3 783 6596 0.00 0.00 0.00 0.000 6 0.000 0.000 2636 2279 3866

6904 -0.74 -194.7 843.2 -12.2 798 6909 0.00 2.83 0.00 0.000 4 0.000 0.067 2636 893 3867

6953 -0.74 -194.7 849.1 -12.0 800 6958 0.00 2.72 0.00 0.000 6 0.000 0.051 2636 2276 3866

7269 -0.74 -194.7 885.6 -11.6 815 7270 0.00 0.00 0.00 0.000 6 0.000 0.000 2636 2277 3866

7578 -0.74 -194.7 921.3 -11.7 830 7582 0.00 2.92 0.00 0.000 4 0.000 0.068 2636 3704 3866

7621 -0.74 -194.7 926.6 -11.8 832 7626 0.00 2.85 0.00 0.000 6 0.000 0.052 2636 2268 3865

7942 -0.74 -194.7 964.9 -11.9 848 7946 0.00 2.80 0.00 0.000 4 0.000 0.068 2636 880 3864

7974 -0.74 -194.7 968.8 -11.9 849 7980 0.00 2.72 0.00 0.000 6 0.000 0.050 2636 2265 3865

8163 end dive: TARGET_DEPTH_EXCEEDED

state 8164 begin apogee

8169 -0.19 0.0 991.4 12.4 859 8374 0.73 0.00 201.23 1.429 6 0.127 0.000 2756 2040 3071

8375 end apogee: CONTROL_FINISHED_OK

state 8375 begin climb

8377 0.82 194.7 1000.0 0.0 869 8596 1.25 3.17 207.85 1.354 4 0.087 0.071 2971 654 2277

8690 0.69 194.7 975.8 12.6 883 8695 0.00 2.92 0.00 0.000 6 0.000 0.047 2971 2054 2273

9011 0.55 194.7 935.3 12.8 899 9017 0.30 2.90 0.00 0.000 4 0.139 0.063 2923 3461 2271

9073 0.55 194.7 928.6 10.2 902 9078 0.00 2.80 0.00 0.000 6 0.000 0.054 2923 2078 2271

9399 0.61 242.2 900.3 8.4 918 9453 0.00 2.95 47.75 1.358 4 0.000 0.062 2923 3459 2082

9493 0.64 270.2 891.9 9.0 922 9528 0.00 2.80 29.17 1.293 6 0.000 0.052 2924 2094 1969

9856 0.66 281.9 858.6 9.6 940 9878 0.00 3.03 13.60 1.339 4 0.000 0.071 2923 641 1920

9978 0.70 317.8 846.8 8.8 945 10023 0.15 2.92 37.38 1.282 6 0.065 0.048 2954 2115 1774

10340 0.64 317.8 802.4 12.7 963 10345 0.00 3.08 0.00 0.000 4 0.000 0.071 2955 632 1770

10447 0.64 317.8 789.6 11.6 968 10451 0.00 2.90 0.00 0.000 6 0.000 0.048 2954 2105 1770

10772 0.58 317.8 748.2 13.0 984 10777 0.15 2.75 0.00 0.000 4 0.129 0.060 2927 3471 1769

10799 0.58 317.8 744.9 11.6 985 10803 0.00 2.72 0.00 0.000 6 0.000 0.051 2928 2101 1767

11121 0.59 320.4 713.3 9.9 1001 11122 0.00 0.00 0.00 0.000 6 0.000 0.000 2927 2100 1767

11429 0.59 320.4 681.6 10.1 1016 11430 0.00 0.00 0.00 0.000 6 0.000 0.000 2927 2099 1767

11738 0.59 320.4 650.1 10.3 1031 11743 0.00 2.72 0.00 0.000 4 0.000 0.058 2927 3464 1767

11771 0.64 320.4 646.8 10.1 1032 11777 0.00 2.65 0.00 0.000 6 0.000 0.048 2928 2113 1766

12086 0.66 333.1 616.9 9.6 1048 12107 0.00 2.78 15.95 1.258 4 0.000 0.056 2927 3464 1713

12118 0.55 362.3 614.0 9.0 1049 12154 0.00 2.65 30.62 1.144 6 0.000 0.046 2928 2123 1594

12470 0.69 426.4 585.7 7.8 1074 12543 0.00 3.10 66.65 1.163 4 0.000 0.065 2927 641 1331

12578 0.88 482.0 577.4 8.1 1084 12644 0.32 2.95 59.20 1.114 6 0.044 0.041 2997 2124 1106

12970 0.73 482.0 496.1 22.3 1121 12972 0.25 0.00 0.00 0.000 6 0.143 0.000 2960 2124 1097

13289 0.73 482.0 451.8 12.9 1151 13293 0.00 3.03 0.00 0.000 4 0.000 0.064 2960 637 1096

13328 0.78 482.0 446.9 11.7 1154 13332 0.00 2.85 0.00 0.000 6 0.000 0.041 2960 2114 1094

13655 0.78 482.0 407.0 13.0 1184 13656 0.00 0.00 0.00 0.000 6 0.000 0.000 2960 2114 1094

13971 0.78 482.0 366.6 13.0 1214 13976 0.00 2.97 0.00 0.000 4 0.000 0.063 2961 640 1093

14015 0.86 482.0 360.9 11.6 1217 14022 0.15 2.80 0.00 0.000 6 0.054 0.041 2993 2103 1092

14354 0.73 482.0 292.2 21.0 1272 14361 0.20 2.67 0.00 0.000 4 0.142 0.051 2961 3474 1092

14374 0.63 482.0 288.4 19.8 1275 14380 0.20 2.70 0.00 0.000 6 0.134 0.044 2935 2084 1092

14720 0.89 581.6 262.8 6.6 1336 14826 0.28 3.08 98.47 0.940 4 0.047 0.064 2996 635 698

14860 0.83 581.6 237.1 20.1 1362 14866 0.00 2.88 0.00 0.000 6 0.000 0.040 2996 2090 695

15203 0.69 581.6 159.9 24.1 1423 15210 0.25 2.92 0.00 0.000 4 0.143 0.062 2956 644 693

15228 0.60 581.6 154.5 23.2 1427 15234 0.15 2.78 0.00 0.000 6 0.110 0.040 2932 2080 691

15573 0.94 581.6 115.0 13.0 1488 15579 0.32 0.00 0.00 0.000 6 0.051 0.000 3003 2080 691

15918 1.19 581.6 77.6 11.3 1549 15925 0.25 2.72 0.00 0.000 4 0.062 0.052 3061 3465 691

15982 1.09 581.6 66.3 22.0 1560 15989 0.15 2.78 0.00 0.000 6 0.121 0.049 3038 2050 691

16173 end climb: SURFACE_DEPTH_REACHED

state 16173 begin surface coast

16180 end surface coast: CONTROL_FINISHED_OK

state 16180 begin surface

ID	143	HD_C	9.8541004e-06	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0
MISSION	4	HEADING	45	PITCH_ADJ_GAIN	0.02	ALTIM_BOTTOM_TURN_MARGIN	0
DIVE	208	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	26	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	-9212.4629	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	055057,6130.896,-2640.607,34,99.0,53,-18.8	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	6138.564,-2637.082
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	0.97	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-53.2	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	055715,6130.928,-2640.708,11,1.7,11,-18.8	MHEAD_RNG_PITCHd_Wd	63.8,20000,-15.7,-10.000
SPEED_LIMITS	0.173,0.296	D_GRID	990

FINISH	0.3,1.013345	XPDR_PINGS	20
SM_CCo	16257,0.00,0.000,0,0,690,584.06	_24V_AH	19.1,68.089
SM_GC	0.91,7.65,0.00,0.00,0.044,0.000,0.000,1466,2310,690,-6.10,0.42,584.06	_10V_AH	9.8,47.290
IRIDIUM_FIX	6103.81,-2631.89,100897,010117	DATA_FILE_SIZE	114009,1595
TT8_MAMPS	0.021476	CAP_FILE_SIZE	152880,0
HUMID	1734	CFSIZE	260165632,236916736
INTERNAL_PRESSURE	8.07648	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	16.40	GPS	160508,102937,6132.366,-2637.962,31,1.5,31,-18.8

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	23	246	108.86	SBE_CT	1195	24	548.08
Roll_motor	142	72	196.20	SBE_O2	1122	19	407.48
VBD_pump_during_apogee	807	1428	22048.84	Optode	575	33	362.57
VBD_pump_during_surface	0	0	0.00	WL_BB2F	783	105	1570.39
VBD_valve	0	0	0.00	WL_BBFL2VMT	0	105	0.00
Iridium_during_init	29	103	57.57	nil	0	0	0.00
Iridium_during_connect	29	160	88.73	nil	0	0	0.00
Iridium_during_xfer	202	223	864.25
Transponder_ping	5	420	40.11
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	14	50	6.89
TT8	2510	19	487.08
LPSleep	9885	2	212.16
TT8_Active	856	19	166.21
TT8_Sampling	2856	39	1114.29
TT8_CF8	512	45	230.02
TT8_Kalman	0	0	0.00
Analog_circuits	2280	12	268.20
GPS_charging	0	0	0.00
Compass	2829	8	221.83
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	138	0.00	0.00	-109.68	0.000	2	0.000	0.000	1467	2305	3362
141	-0.82	-194.7	3.3	-5.4	20	171	9.80	2.85	-12.62	0.000	4	0.246	0.072	2613	3705	3867
207	-0.72	-194.7	15.7	-16.9	31	215	0.17	2.75	0.00	0.000	6	0.137	0.041	2638	2284	3868
352	-0.68	-194.7	36.9	-14.5	56	358	0.00	0.00	0.00	0.000	6	0.000	0.000	2638	2284	3868
493	-0.64	-194.7	57.1	-14.2	81	499	0.12	0.00	0.00	0.000	6	0.144	0.000	2656	2284	3868
835	-0.64	-194.7	96.9	-11.6	142	841	0.00	0.00	0.00	0.000	6	0.000	0.000	2656	2282	3868
1181	-0.64	-194.7	136.4	-12.1	203	1186	0.00	0.00	0.00	0.000	6	0.000	0.000	2656	2282	3868
1525	-0.64	-194.7	176.4	-12.1	264	1531	0.00	2.72	0.00	0.000	4	0.000	0.056	2656	887	3868
1555	-0.68	-194.7	180.0	-11.8	269	1561	0.00	2.72	0.00	0.000	6	0.000	0.046	2656	2292	3868
1899	-0.68	-194.7	222.5	-12.1	330	1904	0.00	0.00	0.00	0.000	6	0.000	0.000	2656	2292	3868
2241	-0.68	-194.7	264.7	-12.2	391	2247	0.00	0.00	0.00	0.000	6	0.000	0.000	2656	2292	3868
2585	-0.68	-194.7	306.6	-12.1	452	2591	0.00	2.78	0.00	0.000	4	0.000	0.055	2656	882	3868
2631	-0.75	-194.7	312.5	-12.0	460	2637	0.00	2.72	0.00	0.000	6	0.000	0.044	2656	2301	3868
2978	-0.75	-194.7	352.7	-11.4	520	2980	0.00	0.00	0.00	0.000	6	0.000	0.000	2656	2301	3868
3297	-0.75	-194.7	389.4	-11.3	550	3298	0.00	0.00	0.00	0.000	6	0.000	0.000	2656	2301	3868
3615	-0.75	-194.7	425.3	-11.3	580	3620	0.00	2.80	0.00	0.000	4	0.000	0.055	2656	882	3868
3654	-0.80	-194.7	429.5	-10.7	583	3660	0.17	2.72	0.00	0.000	6	0.056	0.044	2619	2297	3868
3979	-0.74	-194.7	476.2	-14.3	613	3984	0.12	2.80	0.00	0.000	4	0.136	0.056	2636	3707	3868
4018	-0.74	-194.7	481.4	-12.8	616	4023	0.00	2.75	0.00	0.000	6	0.000	0.042	2636	2282	3867
4344	-0.74	-194.7	522.9	-12.9	646	4345	0.00	0.00	0.00	0.000	6	0.000	0.000	2636	2279	3868
4661	-0.74	-194.7	563.1	-12.4	676	4665	0.00	2.75	0.00	0.000	4	0.000	0.058	2636	883	3868
4688	-0.74	-194.7	566.4	-12.5	678	4693	0.00	2.72	0.00	0.000	6	0.000	0.044	2636	2295	3868
5011	-0.74	-194.7	606.0	-12.4	706	5012	0.00	0.00	0.00	0.000	6	0.000	0.000	2636	2295	3867
5320	-0.74	-194.7	645.0	-12.7	721	5321	0.00	0.00	0.00	0.000	6	0.000	0.000	2636	2295	3868
5630	-0.74	-194.7	684.9	-12.8	736	5631	0.00	0.00	0.00	0.000	6	0.000	0.000	2636	2296	3868
5939	-0.74	-194.7	723.9	-12.5	751	5943	0.00	2.88	0.00	0.000	4	0.000	0.069	2637	886	3867
5970	-0.74	-194.7	728.1	-12.9	752	5977	0.00	2.72	0.00	0.000	6	0.000	0.049	2636	2278	3867
6286	-0.74	-194.7	768.1	-12.6	768	6288	0.00	0.00	0.00	0.000	6	0.000	0.000	2636	2278	3867
6595	-0.74	-194.7	806.3	-12.3	783	6596	0.00	0.00	0.00	0.000	6	0.000	0.000	2636	2279	3866
6904	-0.74	-194.7	843.2	-12.2	798	6909	0.00	2.83	0.00	0.000	4	0.000	0.067	2636	893	3867
6953	-0.74	-194.7	849.1	-12.0	800	6958	0.00	2.72	0.00	0.000	6	0.000	0.051	2636	2276	3866
7269	-0.74	-194.7	885.6	-11.6	815	7270	0.00	0.00	0.00	0.000	6	0.000	0.000	2636	2277	3866
7578	-0.74	-194.7	921.3	-11.7	830	7582	0.00	2.92	0.00	0.000	4	0.000	0.068	2636	3704	3866
7621	-0.74	-194.7	926.6	-11.8	832	7626	0.00	2.85	0.00	0.000	6	0.000	0.052	2636	2268	3865
7942	-0.74	-194.7	964.9	-11.9	848	7946	0.00	2.80	0.00	0.000	4	0.000	0.068	2636	880	3864
7974	-0.74	-194.7	968.8	-11.9	849	7980	0.00	2.72	0.00	0.000	6	0.000	0.050	2636	2265	3865
8163	end dive: TARGET_DEPTH_EXCEEDED
state	8164	begin apogee
8169	-0.19	0.0	991.4	12.4	859	8374	0.73	0.00	201.23	1.429	6	0.127	0.000	2756	2040	3071
8375	end apogee: CONTROL_FINISHED_OK
state	8375	begin climb
8377	0.82	194.7	1000.0	0.0	869	8596	1.25	3.17	207.85	1.354	4	0.087	0.071	2971	654	2277
8690	0.69	194.7	975.8	12.6	883	8695	0.00	2.92	0.00	0.000	6	0.000	0.047	2971	2054	2273
9011	0.55	194.7	935.3	12.8	899	9017	0.30	2.90	0.00	0.000	4	0.139	0.063	2923	3461	2271
9073	0.55	194.7	928.6	10.2	902	9078	0.00	2.80	0.00	0.000	6	0.000	0.054	2923	2078	2271
9399	0.61	242.2	900.3	8.4	918	9453	0.00	2.95	47.75	1.358	4	0.000	0.062	2923	3459	2082
9493	0.64	270.2	891.9	9.0	922	9528	0.00	2.80	29.17	1.293	6	0.000	0.052	2924	2094	1969
9856	0.66	281.9	858.6	9.6	940	9878	0.00	3.03	13.60	1.339	4	0.000	0.071	2923	641	1920
9978	0.70	317.8	846.8	8.8	945	10023	0.15	2.92	37.38	1.282	6	0.065	0.048	2954	2115	1774
10340	0.64	317.8	802.4	12.7	963	10345	0.00	3.08	0.00	0.000	4	0.000	0.071	2955	632	1770
10447	0.64	317.8	789.6	11.6	968	10451	0.00	2.90	0.00	0.000	6	0.000	0.048	2954	2105	1770
10772	0.58	317.8	748.2	13.0	984	10777	0.15	2.75	0.00	0.000	4	0.129	0.060	2927	3471	1769
10799	0.58	317.8	744.9	11.6	985	10803	0.00	2.72	0.00	0.000	6	0.000	0.051	2928	2101	1767
11121	0.59	320.4	713.3	9.9	1001	11122	0.00	0.00	0.00	0.000	6	0.000	0.000	2927	2100	1767
11429	0.59	320.4	681.6	10.1	1016	11430	0.00	0.00	0.00	0.000	6	0.000	0.000	2927	2099	1767
11738	0.59	320.4	650.1	10.3	1031	11743	0.00	2.72	0.00	0.000	4	0.000	0.058	2927	3464	1767
11771	0.64	320.4	646.8	10.1	1032	11777	0.00	2.65	0.00	0.000	6	0.000	0.048	2928	2113	1766
12086	0.66	333.1	616.9	9.6	1048	12107	0.00	2.78	15.95	1.258	4	0.000	0.056	2927	3464	1713
12118	0.55	362.3	614.0	9.0	1049	12154	0.00	2.65	30.62	1.144	6	0.000	0.046	2928	2123	1594
12470	0.69	426.4	585.7	7.8	1074	12543	0.00	3.10	66.65	1.163	4	0.000	0.065	2927	641	1331
12578	0.88	482.0	577.4	8.1	1084	12644	0.32	2.95	59.20	1.114	6	0.044	0.041	2997	2124	1106
12970	0.73	482.0	496.1	22.3	1121	12972	0.25	0.00	0.00	0.000	6	0.143	0.000	2960	2124	1097
13289	0.73	482.0	451.8	12.9	1151	13293	0.00	3.03	0.00	0.000	4	0.000	0.064	2960	637	1096
13328	0.78	482.0	446.9	11.7	1154	13332	0.00	2.85	0.00	0.000	6	0.000	0.041	2960	2114	1094
13655	0.78	482.0	407.0	13.0	1184	13656	0.00	0.00	0.00	0.000	6	0.000	0.000	2960	2114	1094
13971	0.78	482.0	366.6	13.0	1214	13976	0.00	2.97	0.00	0.000	4	0.000	0.063	2961	640	1093
14015	0.86	482.0	360.9	11.6	1217	14022	0.15	2.80	0.00	0.000	6	0.054	0.041	2993	2103	1092
14354	0.73	482.0	292.2	21.0	1272	14361	0.20	2.67	0.00	0.000	4	0.142	0.051	2961	3474	1092
14374	0.63	482.0	288.4	19.8	1275	14380	0.20	2.70	0.00	0.000	6	0.134	0.044	2935	2084	1092
14720	0.89	581.6	262.8	6.6	1336	14826	0.28	3.08	98.47	0.940	4	0.047	0.064	2996	635	698
14860	0.83	581.6	237.1	20.1	1362	14866	0.00	2.88	0.00	0.000	6	0.000	0.040	2996	2090	695
15203	0.69	581.6	159.9	24.1	1423	15210	0.25	2.92	0.00	0.000	4	0.143	0.062	2956	644	693
15228	0.60	581.6	154.5	23.2	1427	15234	0.15	2.78	0.00	0.000	6	0.110	0.040	2932	2080	691
15573	0.94	581.6	115.0	13.0	1488	15579	0.32	0.00	0.00	0.000	6	0.051	0.000	3003	2080	691
15918	1.19	581.6	77.6	11.3	1549	15925	0.25	2.72	0.00	0.000	4	0.062	0.052	3061	3465	691
15982	1.09	581.6	66.3	22.0	1560	15989	0.15	2.78	0.00	0.000	6	0.121	0.049	3038	2050	691
16173	end climb: SURFACE_DEPTH_REACHED
state	16173	begin surface coast
16180	end surface coast: CONTROL_FINISHED_OK
state	16180	begin surface