Glider dive log

NAB Apr08 * SG142 * Dive index * Mission links * Dive 315 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 142 HD_C 9.9999997e-06 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0

MISSION 5 HEADING -1 PITCH_ADJ_GAIN 0.02 ALTIM_BOTTOM_TURN_MARGIN 0

DIVE 315 ESCAPE_HEADING 0 PITCH_ADJ_DBAND 2 ALTIM_TOP_TURN_MARGIN 0

D_SURF 2 ESCAPE_HEADING_DELTA 10 ROLL_MIN 220 ALTIM_TOP_MIN_OBSTACLE 1

D_FLARE 3 FIX_MISSING_TIMEOUT 0 ROLL_MAX 3900 ALTIM_PING_DEPTH 0

D_TGT 990 TGT_DEFAULT_LAT 5900 ROLL_DEG 40 ALTIM_PING_DELTA 0

D_ABORT 1040 TGT_DEFAULT_LON -2030 C_ROLL_DIVE 2300 ALTIM_FREQUENCY 13

D_NO_BLEED 350 TGT_AUTO_DEFAULT 0 C_ROLL_CLIMB 2750 ALTIM_PULSE 3

D_FINISH 0 SM_CC 200 HEAD_ERRBAND 15 ALTIM_SENSITIVITY 3

D_PITCH 0 N_FILEKB 4 ROLL_CNV 0.028270001 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 FILEMGR 0 ROLL_TIMEOUT 15 INT_PRESSURE_YINT -1.65

D_CALL 0 CALL_NDIVES 1 R_PORT_OVSHOOT 21 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 475 DEVICE4 35

T_TURN 225 CALL_WAIT 60 VBD_MAX 3964 DEVICE5 87

T_TURN_SAMPINT 5 CAPUPLOAD 0 C_VBD 3071 DEVICE6 -1

T_NO_W 240 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 -18876.705 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 1435 AH0_24V 150 SEABIRD_T_G 0.0043273787

SPEED_FACTOR 1 PITCH_MAX 3965 AH0_10V 100 SEABIRD_T_H 0.0006414231

RHO 1.0273 C_PITCH 2920 PRESSURE_YINT -2.876246 SEABIRD_T_I 2.3931538e-05

MASS 51804 PITCH_DBAND 0.1 PRESSURE_SLOPE 9.1518581e-05 SEABIRD_T_J 2.340664e-06

NAV_MODE 2 PITCH_CNV 0.0046000001 AD7714Ch0Gain 64 SEABIRD_C_G -10.258962

FERRY_MAX 45 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1819305

KALMAN_USE 2 PITCH_GAIN 24 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0037964056

HD_A 0.003 PITCH_TIMEOUT 15 COMPASS_USE 0 SEABIRD_C_J 0.00031207138

HD_B 0.0099999998 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 24 SM_CC 200

ALTIM_BOTTOM_TURN_MARGIN 0 D_PITCH 0 PITCH_MAX 3965 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 0 D_SURF 2 PITCH_MIN 1435 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 9.1518581e-05 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 45 PRESSURE_YINT -2.876246 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LAT 5900

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 RAFOS_CORR_THRESH 60 TGT_DEFAULT_LON -2030

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 0.003 RAFOS_PEAK_OFFSET 1.5 T_GPS 15

CALL_WAIT 60 HD_B 0.0099999998 RELAUNCH 1 T_GPS_ALMANAC 0

CAPMAXSIZE 100000 HD_C 9.9999997e-06 RHO 1.0273 T_GPS_CHARGE -18876.705

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0.029999999 T_MISSION 360

CF8_MAXERRORS 20 HEAD_ERRBAND 15 ROLL_ADJ_GAIN 3 T_NO_W 240

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 225

COMPASS_USE 0 ID 142 ROLL_DEG 40 T_TURN_SAMPINT 5

COURSE_BIAS 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3900 T_WATCHDOG 10

C_PITCH 2920 INT_PRESSURE_YINT -1.65 ROLL_MAXERRORS 1 UNCOM_BLEED 20

C_ROLL_CLIMB 2750 KALMAN_USE 2 ROLL_MIN 220 UPLOAD_DIVES_MAX -1

C_ROLL_DIVE 2300 KERMIT 0 ROLL_TIMEOUT 15 USE_BATHY 0

C_VBD 3071 MASS 51804 R_PORT_OVSHOOT 21 USE_ICE 0

DEEPGLIDER 0 MAX_BUOY 200 R_STBD_OVSHOOT 26 VBD_BLEED_AD_RATE 8

DEEPGLIDERMB 0 MISSION 5 SEABIRD_C_G -10.258962 VBD_CNV -0.24529999

DEVICE1 2 MOTHERBOARD 4 SEABIRD_C_H 1.1819305 VBD_DBAND 2

DEVICE2 20 NAV_MODE 2 SEABIRD_C_I -0.0037964056 VBD_MAX 3964

DEVICE3 53 N_FILEKB 4 SEABIRD_C_J 0.00031207138 VBD_MAXERRORS 1

DEVICE4 35 N_GPS 20 SEABIRD_T_G 0.0043273787 VBD_MIN 475

DEVICE5 87 N_NOCOMM 1 SEABIRD_T_H 0.0006414231 VBD_PUMP_AD_RATE_APOGEE 3

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.3931538e-05 VBD_PUMP_AD_RATE_SURFACE 4

DIVE 315 PHONE_DEVICE 48 SEABIRD_T_J 2.340664e-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 170028,6156.421,-2608.684,38,2.5,57,-18.8 TGT_NAME NE

_CALLS 1 TGT_LATLONG 6156.130,-2600.200

_XMS_NAKs 4 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 0.74 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -50.6 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 170839,6156.390,-2608.527,11,1.1,11,-18.8 MHEAD_RNG_PITCHd_Wd 129.8,7271,-14.9,-10.000

SPEED_LIMITS 0.173,0.295 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.1,1.002255 _24V_AH 19.1,98.555

SM_CCo 15968,0.00,0.000,0,0,1229,451.84 _10V_AH 9.9,66.471

SM_GC 0.69,8.57,0.00,0.00,0.044,0.000,0.000,1432,2274,1229,-6.79,-0.71,451.84 DATA_FILE_SIZE 126784,1723

IRIDIUM_FIX 6135.28,-2613.44,030997,121227 CAP_FILE_SIZE 157518,0

TT8_MAMPS 0.026845 CFSIZE 260165632,226811904

HUMID 1843 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 8.89728 CURRENT 0.085,345.9,1

TCM_TEMP 16.50 GPS 090608,213625,6155.930,-2604.262,24,1.1,42,-18.7

XPDR_PINGS 840

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 246 115.92 SBE_CT 1191 24 546.00

Roll_motor 144 91 252.43 SBE_O2 1286 19 466.92

VBD_pump_during_apogee 688 1469 19334.51 Optode 658 33 415.25

VBD_pump_during_surface 0 0 0.00 WL_BB2F 1608 105 3226.12

VBD_valve 0 0 0.00 WL_BBFL2VMT 0 105 0.00

Iridium_during_init 24 103 48.37 nil 0 0 0.00

Iridium_during_connect 39 160 120.53 nil 0 0 0.00

Iridium_during_xfer 274 223 1169.31

Transponder_ping 210 420 1684.62

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 13 50 6.54

TT8 3487 19 683.68

LPSleep 8203 2 177.86

TT8_Active 887 19 174.00

TT8_Sampling 3165 39 1247.10

TT8_CF8 698 45 316.53

TT8_Kalman 0 0 0.00

Analog_circuits 2332 12 277.15

GPS_charging 0 0 0.00

Compass 3151 8 249.57

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

18 end surface: CONTROL_FINISHED_OK

state 18 begin dive

21 -0.86 -194.7 0.0 0.0 0 154 0.00 0.00 -129.88 0.000 2 0.000 0.000 1436 2296 3397

157 -0.86 -194.7 3.0 -4.7 17 188 11.75 2.90 -13.73 0.000 4 0.246 0.055 2726 886 3867

269 -0.86 -194.7 18.9 -12.7 35 276 0.00 2.72 0.00 0.000 6 0.000 0.030 2726 2308 3868

411 -0.77 -194.7 38.3 -14.4 60 418 0.15 0.00 0.00 0.000 6 0.146 0.000 2749 2308 3868

555 -0.77 -194.7 55.6 -12.3 85 561 0.00 0.00 0.00 0.000 6 0.000 0.000 2749 2308 3868

897 -0.77 -194.7 92.5 -10.4 146 904 0.00 0.00 0.00 0.000 6 0.000 0.000 2749 2309 3868

1242 -0.77 -194.7 130.1 -11.3 207 1248 0.00 0.00 0.00 0.000 6 0.000 0.000 2750 2309 3868

1586 -0.77 -194.7 169.5 -11.7 268 1594 0.00 2.75 0.00 0.000 4 0.000 0.044 2749 3703 3869

1612 -0.77 -194.7 172.5 -11.6 272 1620 0.00 2.75 0.00 0.000 6 0.000 0.033 2749 2288 3869

1958 -0.77 -194.7 213.0 -12.4 333 1965 0.00 2.85 0.00 0.000 4 0.000 0.044 2749 3713 3869

2007 -0.77 -194.7 218.7 -11.8 341 2014 0.00 2.78 0.00 0.000 6 0.000 0.033 2749 2289 3869

2353 -0.77 -194.7 260.0 -12.2 402 2360 0.00 2.85 0.00 0.000 4 0.000 0.045 2749 3710 3869

2378 -0.77 -194.7 263.1 -12.0 406 2385 0.00 2.75 0.00 0.000 6 0.000 0.033 2749 2298 3869

2724 -0.77 -194.7 302.7 -11.6 467 2731 0.00 2.83 0.00 0.000 4 0.000 0.044 2749 3709 3868

2750 -0.77 -194.7 305.6 -11.3 471 2757 0.00 2.72 0.00 0.000 6 0.000 0.033 2749 2310 3869

3094 -0.77 -194.7 344.3 -10.9 532 3102 0.00 2.80 0.00 0.000 4 0.000 0.045 2749 3704 3868

3109 -0.77 -194.7 345.8 -10.7 534 3116 0.00 2.72 0.00 0.000 6 0.000 0.033 2749 2305 3869

3441 -0.77 -194.7 381.6 -10.5 568 3445 0.00 2.80 0.00 0.000 4 0.000 0.045 2749 3702 3868

3450 -0.77 -194.7 383.2 -10.6 568 3458 0.00 2.70 0.00 0.000 6 0.000 0.033 2749 2316 3868

3778 -0.77 -194.7 417.2 -10.3 599 3783 0.00 2.80 0.00 0.000 4 0.000 0.045 2749 3712 3868

3795 -0.77 -194.7 419.3 -10.3 600 3800 0.00 2.72 0.00 0.000 6 0.000 0.033 2749 2315 3868

4122 -0.77 -194.7 454.2 -11.3 630 4127 0.00 2.80 0.00 0.000 4 0.000 0.046 2750 3709 3868

4141 -0.77 -194.7 456.4 -11.3 631 4146 0.00 2.70 0.00 0.000 6 0.000 0.034 2749 2326 3867

4470 -0.77 -194.7 492.4 -10.6 661 4476 0.00 0.00 0.00 0.000 6 0.000 0.000 2749 2325 3868

4796 -0.77 -194.7 528.1 -10.6 692 4800 0.00 2.78 0.00 0.000 4 0.000 0.048 2749 3704 3867

4813 -0.77 -194.7 529.9 -9.9 693 4818 0.00 2.67 0.00 0.000 6 0.000 0.034 2749 2337 3867

5141 -0.77 -194.7 561.1 -9.4 723 5145 0.00 2.78 0.00 0.000 4 0.000 0.048 2749 3709 3867

5158 -0.77 -194.7 562.9 -8.8 724 5163 0.00 2.70 0.00 0.000 6 0.000 0.034 2749 2331 3867

5487 -0.77 -194.7 593.2 -9.2 754 5493 0.00 0.00 0.00 0.000 6 0.000 0.000 2749 2329 3866

5805 -0.77 -194.7 625.8 -10.4 773 5807 0.00 0.00 0.00 0.000 6 0.000 0.000 2749 2329 3866

6115 -0.77 -194.7 656.6 -9.5 788 6117 0.00 0.00 0.00 0.000 6 0.000 0.000 2749 2329 3866

6424 -0.77 -194.7 685.3 -9.4 803 6426 0.00 0.00 0.00 0.000 6 0.000 0.000 2749 2330 3866

6734 -0.77 -194.7 717.0 -10.9 818 6738 0.00 2.90 0.00 0.000 4 0.000 0.066 2749 3701 3866

6743 -0.77 -194.7 718.4 -11.0 818 6751 0.00 2.75 0.00 0.000 6 0.000 0.047 2749 2346 3866

7059 -0.77 -194.7 752.3 -10.6 834 7060 0.00 0.00 0.00 0.000 6 0.000 0.000 2749 2345 3865

7369 -0.77 -194.7 786.0 -10.9 849 7371 0.00 0.00 0.00 0.000 6 0.000 0.000 2749 2344 3865

7679 -1.14 -194.7 817.9 -7.1 864 7684 0.43 3.08 0.00 0.000 4 0.105 0.091 2678 3700 3864

7937 -1.31 -194.7 824.8 0.1 875 7945 0.25 2.97 0.00 0.000 6 0.067 0.085 2633 2367 3864

8065 end dive: NO_VERTICAL_VELOCITY

state 8065 begin apogee

8072 -0.21 0.0 824.8 0.0 882 8281 1.40 0.00 205.00 1.470 6 0.100 0.000 2871 2740 3071

8282 end apogee: CONTROL_FINISHED_OK

state 8282 begin climb

8285 0.86 194.7 824.7 0.0 892 8508 1.42 3.53 209.23 1.409 4 0.094 0.091 3100 1342 2276

8654 0.73 194.7 799.6 10.7 908 8660 0.15 3.12 0.00 0.000 6 0.117 0.070 3080 2751 2275

8971 0.67 221.9 771.7 9.1 923 9006 0.00 2.58 28.20 1.333 4 0.000 0.078 3080 3905 2166

9060 0.60 221.9 762.8 10.7 927 9065 0.17 2.40 0.00 0.000 6 0.114 0.055 3054 2759 2165

9387 0.64 253.0 733.2 8.9 943 9431 0.00 3.08 32.85 1.348 4 0.000 0.071 3054 1330 2037

9464 0.70 300.2 726.3 8.4 946 9522 0.00 2.97 49.62 1.360 6 0.000 0.044 3054 2771 1847

9831 0.78 365.8 696.9 7.7 964 9903 0.17 0.00 69.47 1.354 6 0.054 0.000 3089 2772 1579

10199 0.80 382.3 658.6 9.4 982 10223 0.00 3.05 17.67 1.243 4 0.000 0.052 3089 1334 1511

10270 0.81 386.9 651.9 9.8 985 10284 0.00 2.85 6.47 1.009 6 0.000 0.036 3089 2752 1492

10603 0.81 386.9 615.2 11.6 1001 10604 0.00 0.00 0.00 0.000 6 0.000 0.000 3089 2753 1490

10916 0.81 386.9 576.6 12.9 1024 10917 0.00 0.00 0.00 0.000 6 0.000 0.000 3089 2753 1489

11234 0.81 386.9 539.2 11.2 1054 11235 0.00 0.00 0.00 0.000 6 0.000 0.000 3089 2753 1488

11553 0.81 386.9 502.9 11.1 1084 11554 0.00 0.00 0.00 0.000 6 0.000 0.000 3089 2752 1488

11871 0.81 386.9 466.5 11.4 1114 11875 0.00 2.85 0.00 0.000 4 0.000 0.045 3089 1331 1487

11921 0.81 386.9 460.5 11.9 1118 11926 0.00 2.75 0.00 0.000 6 0.000 0.032 3089 2743 1486

12246 0.81 386.9 424.1 10.9 1148 12247 0.00 0.00 0.00 0.000 6 0.000 0.000 3089 2743 1486

12567 0.81 391.1 391.0 9.9 1178 12580 0.00 2.88 4.75 0.782 4 0.000 0.046 3089 1326 1476

12615 0.81 391.1 385.8 10.4 1182 12619 0.00 2.72 0.00 0.000 6 0.000 0.031 3089 2726 1475

12940 0.82 397.6 353.4 9.8 1212 12954 0.00 2.38 8.38 0.963 4 0.000 0.048 3089 3888 1450

12978 0.82 397.6 349.6 10.1 1215 12985 0.00 2.30 0.00 0.000 6 0.000 0.031 3089 2694 1450

13323 0.82 397.6 314.9 10.1 1276 13331 0.00 2.70 0.00 0.000 4 0.000 0.047 3089 1331 1449

13371 0.82 397.6 309.9 10.0 1284 13378 0.00 2.70 0.00 0.000 6 0.000 0.031 3089 2726 1448

13717 0.87 437.0 277.8 8.6 1345 13763 0.00 0.00 43.17 1.111 6 0.000 0.000 3089 2726 1288

14104 0.93 449.6 241.1 9.6 1412 14126 0.17 2.85 14.00 0.989 4 0.051 0.044 3130 1323 1235

14161 0.93 449.6 233.4 13.7 1421 14168 0.00 2.72 0.00 0.000 6 0.000 0.031 3130 2712 1234

14507 0.89 449.6 184.8 14.3 1482 14514 0.00 2.33 0.00 0.000 4 0.000 0.047 3130 3888 1233

14543 0.89 449.6 179.4 14.4 1488 14550 0.00 2.33 0.00 0.000 6 0.000 0.031 3130 2681 1233

14890 0.89 449.6 129.9 14.1 1549 14897 0.00 2.70 0.00 0.000 4 0.000 0.047 3130 1322 1232

14929 0.89 449.6 124.2 14.5 1555 14936 0.00 2.70 0.00 0.000 6 0.000 0.031 3130 2714 1232

15274 0.89 449.6 75.3 13.3 1616 15281 0.00 0.00 0.00 0.000 6 0.000 0.000 3130 2714 1231

15618 0.89 449.6 31.3 11.2 1677 15625 0.00 2.78 0.00 0.000 4 0.000 0.045 3130 1324 1231

15677 0.89 449.6 23.9 13.0 1687 15685 0.00 2.65 0.00 0.000 6 0.000 0.031 3130 2701 1230

15821 0.89 449.6 7.5 11.3 1712 15828 0.00 2.33 0.00 0.000 4 0.000 0.048 3130 3887 1231

15858 0.89 449.6 3.0 11.9 1718 15865 0.00 2.30 0.00 0.000 6 0.000 0.031 3130 2680 1230

15870 end climb: SURFACE_DEPTH_REACHED

state 15870 begin surface coast

15889 end surface coast: CONTROL_FINISHED_OK

state 15889 begin surface

ID	142	HD_C	9.9999997e-06	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0
MISSION	5	HEADING	-1	PITCH_ADJ_GAIN	0.02	ALTIM_BOTTOM_TURN_MARGIN	0
DIVE	315	ESCAPE_HEADING	0	PITCH_ADJ_DBAND	2	ALTIM_TOP_TURN_MARGIN	0
D_SURF	2	ESCAPE_HEADING_DELTA	10	ROLL_MIN	220	ALTIM_TOP_MIN_OBSTACLE	1
D_FLARE	3	FIX_MISSING_TIMEOUT	0	ROLL_MAX	3900	ALTIM_PING_DEPTH	0
D_TGT	990	TGT_DEFAULT_LAT	5900	ROLL_DEG	40	ALTIM_PING_DELTA	0
D_ABORT	1040	TGT_DEFAULT_LON	-2030	C_ROLL_DIVE	2300	ALTIM_FREQUENCY	13
D_NO_BLEED	350	TGT_AUTO_DEFAULT	0	C_ROLL_CLIMB	2750	ALTIM_PULSE	3
D_FINISH	0	SM_CC	200	HEAD_ERRBAND	15	ALTIM_SENSITIVITY	3
D_PITCH	0	N_FILEKB	4	ROLL_CNV	0.028270001	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	FILEMGR	0	ROLL_TIMEOUT	15	INT_PRESSURE_YINT	-1.65
D_CALL	0	CALL_NDIVES	1	R_PORT_OVSHOOT	21	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	475	DEVICE4	35
T_TURN	225	CALL_WAIT	60	VBD_MAX	3964	DEVICE5	87
T_TURN_SAMPINT	5	CAPUPLOAD	0	C_VBD	3071	DEVICE6	-1
T_NO_W	240	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	-18876.705	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	1435	AH0_24V	150	SEABIRD_T_G	0.0043273787
SPEED_FACTOR	1	PITCH_MAX	3965	AH0_10V	100	SEABIRD_T_H	0.0006414231
RHO	1.0273	C_PITCH	2920	PRESSURE_YINT	-2.876246	SEABIRD_T_I	2.3931538e-05
MASS	51804	PITCH_DBAND	0.1	PRESSURE_SLOPE	9.1518581e-05	SEABIRD_T_J	2.340664e-06
NAV_MODE	2	PITCH_CNV	0.0046000001	AD7714Ch0Gain	64	SEABIRD_C_G	-10.258962
FERRY_MAX	45	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1819305
KALMAN_USE	2	PITCH_GAIN	24	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0037964056
HD_A	0.003	PITCH_TIMEOUT	15	COMPASS_USE	0	SEABIRD_C_J	0.00031207138
HD_B	0.0099999998	PITCH_AD_RATE	100	ALTIM_BOTTOM_PING_RANGE	0

GPS1	170028,6156.421,-2608.684,38,2.5,57,-18.8	TGT_NAME	NE
_CALLS	1	TGT_LATLONG	6156.130,-2600.200
_XMS_NAKs	4	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	0.74	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-50.6	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	170839,6156.390,-2608.527,11,1.1,11,-18.8	MHEAD_RNG_PITCHd_Wd	129.8,7271,-14.9,-10.000
SPEED_LIMITS	0.173,0.295	D_GRID	990

FINISH	0.1,1.002255	_24V_AH	19.1,98.555
SM_CCo	15968,0.00,0.000,0,0,1229,451.84	_10V_AH	9.9,66.471
SM_GC	0.69,8.57,0.00,0.00,0.044,0.000,0.000,1432,2274,1229,-6.79,-0.71,451.84	DATA_FILE_SIZE	126784,1723
IRIDIUM_FIX	6135.28,-2613.44,030997,121227	CAP_FILE_SIZE	157518,0
TT8_MAMPS	0.026845	CFSIZE	260165632,226811904
HUMID	1843	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	8.89728	CURRENT	0.085,345.9,1
TCM_TEMP	16.50	GPS	090608,213625,6155.930,-2604.262,24,1.1,42,-18.7
XPDR_PINGS	840

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	246	115.92	SBE_CT	1191	24	546.00
Roll_motor	144	91	252.43	SBE_O2	1286	19	466.92
VBD_pump_during_apogee	688	1469	19334.51	Optode	658	33	415.25
VBD_pump_during_surface	0	0	0.00	WL_BB2F	1608	105	3226.12
VBD_valve	0	0	0.00	WL_BBFL2VMT	0	105	0.00
Iridium_during_init	24	103	48.37	nil	0	0	0.00
Iridium_during_connect	39	160	120.53	nil	0	0	0.00
Iridium_during_xfer	274	223	1169.31
Transponder_ping	210	420	1684.62
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	13	50	6.54
TT8	3487	19	683.68
LPSleep	8203	2	177.86
TT8_Active	887	19	174.00
TT8_Sampling	3165	39	1247.10
TT8_CF8	698	45	316.53
TT8_Kalman	0	0	0.00
Analog_circuits	2332	12	277.15
GPS_charging	0	0	0.00
Compass	3151	8	249.57
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
18	end surface: CONTROL_FINISHED_OK
state	18	begin dive
21	-0.86	-194.7	0.0	0.0	0	154	0.00	0.00	-129.88	0.000	2	0.000	0.000	1436	2296	3397
157	-0.86	-194.7	3.0	-4.7	17	188	11.75	2.90	-13.73	0.000	4	0.246	0.055	2726	886	3867
269	-0.86	-194.7	18.9	-12.7	35	276	0.00	2.72	0.00	0.000	6	0.000	0.030	2726	2308	3868
411	-0.77	-194.7	38.3	-14.4	60	418	0.15	0.00	0.00	0.000	6	0.146	0.000	2749	2308	3868
555	-0.77	-194.7	55.6	-12.3	85	561	0.00	0.00	0.00	0.000	6	0.000	0.000	2749	2308	3868
897	-0.77	-194.7	92.5	-10.4	146	904	0.00	0.00	0.00	0.000	6	0.000	0.000	2749	2309	3868
1242	-0.77	-194.7	130.1	-11.3	207	1248	0.00	0.00	0.00	0.000	6	0.000	0.000	2750	2309	3868
1586	-0.77	-194.7	169.5	-11.7	268	1594	0.00	2.75	0.00	0.000	4	0.000	0.044	2749	3703	3869
1612	-0.77	-194.7	172.5	-11.6	272	1620	0.00	2.75	0.00	0.000	6	0.000	0.033	2749	2288	3869
1958	-0.77	-194.7	213.0	-12.4	333	1965	0.00	2.85	0.00	0.000	4	0.000	0.044	2749	3713	3869
2007	-0.77	-194.7	218.7	-11.8	341	2014	0.00	2.78	0.00	0.000	6	0.000	0.033	2749	2289	3869
2353	-0.77	-194.7	260.0	-12.2	402	2360	0.00	2.85	0.00	0.000	4	0.000	0.045	2749	3710	3869
2378	-0.77	-194.7	263.1	-12.0	406	2385	0.00	2.75	0.00	0.000	6	0.000	0.033	2749	2298	3869
2724	-0.77	-194.7	302.7	-11.6	467	2731	0.00	2.83	0.00	0.000	4	0.000	0.044	2749	3709	3868
2750	-0.77	-194.7	305.6	-11.3	471	2757	0.00	2.72	0.00	0.000	6	0.000	0.033	2749	2310	3869
3094	-0.77	-194.7	344.3	-10.9	532	3102	0.00	2.80	0.00	0.000	4	0.000	0.045	2749	3704	3868
3109	-0.77	-194.7	345.8	-10.7	534	3116	0.00	2.72	0.00	0.000	6	0.000	0.033	2749	2305	3869
3441	-0.77	-194.7	381.6	-10.5	568	3445	0.00	2.80	0.00	0.000	4	0.000	0.045	2749	3702	3868
3450	-0.77	-194.7	383.2	-10.6	568	3458	0.00	2.70	0.00	0.000	6	0.000	0.033	2749	2316	3868
3778	-0.77	-194.7	417.2	-10.3	599	3783	0.00	2.80	0.00	0.000	4	0.000	0.045	2749	3712	3868
3795	-0.77	-194.7	419.3	-10.3	600	3800	0.00	2.72	0.00	0.000	6	0.000	0.033	2749	2315	3868
4122	-0.77	-194.7	454.2	-11.3	630	4127	0.00	2.80	0.00	0.000	4	0.000	0.046	2750	3709	3868
4141	-0.77	-194.7	456.4	-11.3	631	4146	0.00	2.70	0.00	0.000	6	0.000	0.034	2749	2326	3867
4470	-0.77	-194.7	492.4	-10.6	661	4476	0.00	0.00	0.00	0.000	6	0.000	0.000	2749	2325	3868
4796	-0.77	-194.7	528.1	-10.6	692	4800	0.00	2.78	0.00	0.000	4	0.000	0.048	2749	3704	3867
4813	-0.77	-194.7	529.9	-9.9	693	4818	0.00	2.67	0.00	0.000	6	0.000	0.034	2749	2337	3867
5141	-0.77	-194.7	561.1	-9.4	723	5145	0.00	2.78	0.00	0.000	4	0.000	0.048	2749	3709	3867
5158	-0.77	-194.7	562.9	-8.8	724	5163	0.00	2.70	0.00	0.000	6	0.000	0.034	2749	2331	3867
5487	-0.77	-194.7	593.2	-9.2	754	5493	0.00	0.00	0.00	0.000	6	0.000	0.000	2749	2329	3866
5805	-0.77	-194.7	625.8	-10.4	773	5807	0.00	0.00	0.00	0.000	6	0.000	0.000	2749	2329	3866
6115	-0.77	-194.7	656.6	-9.5	788	6117	0.00	0.00	0.00	0.000	6	0.000	0.000	2749	2329	3866
6424	-0.77	-194.7	685.3	-9.4	803	6426	0.00	0.00	0.00	0.000	6	0.000	0.000	2749	2330	3866
6734	-0.77	-194.7	717.0	-10.9	818	6738	0.00	2.90	0.00	0.000	4	0.000	0.066	2749	3701	3866
6743	-0.77	-194.7	718.4	-11.0	818	6751	0.00	2.75	0.00	0.000	6	0.000	0.047	2749	2346	3866
7059	-0.77	-194.7	752.3	-10.6	834	7060	0.00	0.00	0.00	0.000	6	0.000	0.000	2749	2345	3865
7369	-0.77	-194.7	786.0	-10.9	849	7371	0.00	0.00	0.00	0.000	6	0.000	0.000	2749	2344	3865
7679	-1.14	-194.7	817.9	-7.1	864	7684	0.43	3.08	0.00	0.000	4	0.105	0.091	2678	3700	3864
7937	-1.31	-194.7	824.8	0.1	875	7945	0.25	2.97	0.00	0.000	6	0.067	0.085	2633	2367	3864
8065	end dive: NO_VERTICAL_VELOCITY
state	8065	begin apogee
8072	-0.21	0.0	824.8	0.0	882	8281	1.40	0.00	205.00	1.470	6	0.100	0.000	2871	2740	3071
8282	end apogee: CONTROL_FINISHED_OK
state	8282	begin climb
8285	0.86	194.7	824.7	0.0	892	8508	1.42	3.53	209.23	1.409	4	0.094	0.091	3100	1342	2276
8654	0.73	194.7	799.6	10.7	908	8660	0.15	3.12	0.00	0.000	6	0.117	0.070	3080	2751	2275
8971	0.67	221.9	771.7	9.1	923	9006	0.00	2.58	28.20	1.333	4	0.000	0.078	3080	3905	2166
9060	0.60	221.9	762.8	10.7	927	9065	0.17	2.40	0.00	0.000	6	0.114	0.055	3054	2759	2165
9387	0.64	253.0	733.2	8.9	943	9431	0.00	3.08	32.85	1.348	4	0.000	0.071	3054	1330	2037
9464	0.70	300.2	726.3	8.4	946	9522	0.00	2.97	49.62	1.360	6	0.000	0.044	3054	2771	1847
9831	0.78	365.8	696.9	7.7	964	9903	0.17	0.00	69.47	1.354	6	0.054	0.000	3089	2772	1579
10199	0.80	382.3	658.6	9.4	982	10223	0.00	3.05	17.67	1.243	4	0.000	0.052	3089	1334	1511
10270	0.81	386.9	651.9	9.8	985	10284	0.00	2.85	6.47	1.009	6	0.000	0.036	3089	2752	1492
10603	0.81	386.9	615.2	11.6	1001	10604	0.00	0.00	0.00	0.000	6	0.000	0.000	3089	2753	1490
10916	0.81	386.9	576.6	12.9	1024	10917	0.00	0.00	0.00	0.000	6	0.000	0.000	3089	2753	1489
11234	0.81	386.9	539.2	11.2	1054	11235	0.00	0.00	0.00	0.000	6	0.000	0.000	3089	2753	1488
11553	0.81	386.9	502.9	11.1	1084	11554	0.00	0.00	0.00	0.000	6	0.000	0.000	3089	2752	1488
11871	0.81	386.9	466.5	11.4	1114	11875	0.00	2.85	0.00	0.000	4	0.000	0.045	3089	1331	1487
11921	0.81	386.9	460.5	11.9	1118	11926	0.00	2.75	0.00	0.000	6	0.000	0.032	3089	2743	1486
12246	0.81	386.9	424.1	10.9	1148	12247	0.00	0.00	0.00	0.000	6	0.000	0.000	3089	2743	1486
12567	0.81	391.1	391.0	9.9	1178	12580	0.00	2.88	4.75	0.782	4	0.000	0.046	3089	1326	1476
12615	0.81	391.1	385.8	10.4	1182	12619	0.00	2.72	0.00	0.000	6	0.000	0.031	3089	2726	1475
12940	0.82	397.6	353.4	9.8	1212	12954	0.00	2.38	8.38	0.963	4	0.000	0.048	3089	3888	1450
12978	0.82	397.6	349.6	10.1	1215	12985	0.00	2.30	0.00	0.000	6	0.000	0.031	3089	2694	1450
13323	0.82	397.6	314.9	10.1	1276	13331	0.00	2.70	0.00	0.000	4	0.000	0.047	3089	1331	1449
13371	0.82	397.6	309.9	10.0	1284	13378	0.00	2.70	0.00	0.000	6	0.000	0.031	3089	2726	1448
13717	0.87	437.0	277.8	8.6	1345	13763	0.00	0.00	43.17	1.111	6	0.000	0.000	3089	2726	1288
14104	0.93	449.6	241.1	9.6	1412	14126	0.17	2.85	14.00	0.989	4	0.051	0.044	3130	1323	1235
14161	0.93	449.6	233.4	13.7	1421	14168	0.00	2.72	0.00	0.000	6	0.000	0.031	3130	2712	1234
14507	0.89	449.6	184.8	14.3	1482	14514	0.00	2.33	0.00	0.000	4	0.000	0.047	3130	3888	1233
14543	0.89	449.6	179.4	14.4	1488	14550	0.00	2.33	0.00	0.000	6	0.000	0.031	3130	2681	1233
14890	0.89	449.6	129.9	14.1	1549	14897	0.00	2.70	0.00	0.000	4	0.000	0.047	3130	1322	1232
14929	0.89	449.6	124.2	14.5	1555	14936	0.00	2.70	0.00	0.000	6	0.000	0.031	3130	2714	1232
15274	0.89	449.6	75.3	13.3	1616	15281	0.00	0.00	0.00	0.000	6	0.000	0.000	3130	2714	1231
15618	0.89	449.6	31.3	11.2	1677	15625	0.00	2.78	0.00	0.000	4	0.000	0.045	3130	1324	1231
15677	0.89	449.6	23.9	13.0	1687	15685	0.00	2.65	0.00	0.000	6	0.000	0.031	3130	2701	1230
15821	0.89	449.6	7.5	11.3	1712	15828	0.00	2.33	0.00	0.000	4	0.000	0.048	3130	3887	1231
15858	0.89	449.6	3.0	11.9	1718	15865	0.00	2.30	0.00	0.000	6	0.000	0.031	3130	2680	1230
15870	end climb: SURFACE_DEPTH_REACHED
state	15870	begin surface coast
15889	end surface coast: CONTROL_FINISHED_OK
state	15889	begin surface