Glider dive log

WA coast Apr08 * SG101 * Dive index * Mission links * Dive 36 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 101 HD_C 3.1312e-05 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 20

MISSION 5 HEADING -1 PITCH_ADJ_GAIN 0 ALTIM_BOTTOM_TURN_MARGIN 10

DIVE 36 ESCAPE_HEADING 60 PITCH_ADJ_DBAND 0 ALTIM_TOP_TURN_MARGIN 0

D_SURF 2 ESCAPE_HEADING_DELTA 10 ROLL_MIN 180 ALTIM_TOP_MIN_OBSTACLE 1

D_FLARE 3 FIX_MISSING_TIMEOUT 0 ROLL_MAX 3635 ALTIM_PING_DEPTH 125

D_TGT 990 TGT_DEFAULT_LAT 48.150002 ROLL_DEG 40 ALTIM_PING_DELTA 25

D_ABORT 1090 TGT_DEFAULT_LON -125.67 C_ROLL_DIVE 2600 ALTIM_FREQUENCY 13

D_NO_BLEED 200 TGT_AUTO_DEFAULT 0 C_ROLL_CLIMB 2200 ALTIM_PULSE 5

D_FINISH 0 SM_CC 400 HEAD_ERRBAND 15 ALTIM_SENSITIVITY 4

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 0

D_CALL 0 CALL_NDIVES 1 R_PORT_OVSHOOT 15 DEEPGLIDER 0

SURFACE_URGENCY 0 COMM_SEQ 0 R_STBD_OVSHOOT 18 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 KERMIT 0 ROLL_AD_RATE 350 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 N_NOCOMM 1 ROLL_MAXERRORS 1 DEVICE1 2

T_DIVE 330 N_NOSURFACE 0 ROLL_ADJ_GAIN 0 DEVICE2 20

T_MISSION 360 UPLOAD_DIVES_MAX -1 ROLL_ADJ_DBAND 0 DEVICE3 35

T_ABORT 1440 CALL_TRIES 5 VBD_MIN 294 DEVICE4 -1

T_TURN 225 CALL_WAIT 60 VBD_MAX 3583 DEVICE5 -1

T_TURN_SAMPINT 5 CAPUPLOAD 0 C_VBD 2564 DEVICE6 -1

T_NO_W 120 CAPMAXSIZE 100000 VBD_DBAND 2 SMARTS 0

USE_BATHY -1 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 1001 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_SURFACE 5 PHONE_DEVICE 48

T_WATCHDOG 10 T_GPS_CHARGE -691356.62 VBD_PUMP_AD_RATE_APOGEE 2 GPS_DEVICE 32

RELAUNCH 1 T_RSLEEP 2 VBD_BLEED_AD_RATE 10 RAFOS_DEVICE -1

APOGEE_PITCH -5 RAFOS_PEAK_OFFSET 1.5 UNCOM_BLEED 20 XPDR_DEVICE 24

MAX_BUOY 150 RAFOS_CORR_THRESH 60 VBD_MAXERRORS 1 SIM_W 0

COURSE_BIAS 0 RAFOS_HIT_WINDOW 3600 CF8_MAXERRORS 2 SIM_PITCH 0

GLIDE_SLOPE 30 PITCH_MIN 29 AH0_24V 91.800003 SEABIRD_T_G 0.0043762224

SPEED_FACTOR 0.94999993 PITCH_MAX 3302 AH0_10V 61.200001 SEABIRD_T_H 0.0006433985

RHO 1.023 C_PITCH 2500 PRESSURE_YINT -14.435382 SEABIRD_T_I 2.5567888e-05

MASS 50300 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.000115925 SEABIRD_T_J 2.722762e-06

NAV_MODE 1 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_C_G -10.209094

FERRY_MAX 45 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET -1.3 SEABIRD_C_H 1.1488034

KALMAN_USE 1 PITCH_GAIN 11 TCM_ROLL_OFFSET -0.2 SEABIRD_C_I -0.0015548224

HD_A 0.0034169999 PITCH_TIMEOUT 17 COMPASS_USE 0 SEABIRD_C_J 0.00021813136

HD_B 0.0095870001 PITCH_AD_RATE 175 ALTIM_BOTTOM_PING_RANGE 0

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 175 SMARTDEVICE1 -1

AH0_10V 61.200001 D_FLARE 3 PITCH_CNV 0.0046000001 SMARTDEVICE2 -1

AH0_24V 91.800003 D_NO_BLEED 200 PITCH_DBAND 0.1 SMARTS 0

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 1001 PITCH_GAIN 11 SM_CC 400

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 PITCH_MAX 3302 SPEED_FACTOR 0.94999993

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 25 D_SURF 2 PITCH_MIN 29 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 125 D_TGT 990 PITCH_TIMEOUT 17 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 5 ESCAPE_HEADING 60 PITCH_VBD_SHIFT 0.0012300001 TCM_PITCH_OFFSET -1.3

ALTIM_SENSITIVITY 4 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.000115925 TCM_ROLL_OFFSET -0.2

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 45 PRESSURE_YINT -14.435382 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 20 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LAT 48.150002

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 RAFOS_CORR_THRESH 60 TGT_DEFAULT_LON -125.67

APOGEE_PITCH -5 GLIDE_SLOPE 30 RAFOS_DEVICE -1 T_ABORT 1440

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_DIVE 330

CALL_TRIES 5 HD_A 0.0034169999 RAFOS_PEAK_OFFSET 1.5 T_GPS 15

CALL_WAIT 60 HD_B 0.0095870001 RELAUNCH 1 T_GPS_ALMANAC 0

CAPMAXSIZE 100000 HD_C 3.1312e-05 RHO 1.023 T_GPS_CHARGE -691356.62

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 360

CF8_MAXERRORS 2 HEAD_ERRBAND 15 ROLL_ADJ_GAIN 0 T_NO_W 120

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 350 T_RSLEEP 2

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN 225

COMPASS_USE 0 ID 101 ROLL_DEG 40 T_TURN_SAMPINT 5

COURSE_BIAS 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3635 T_WATCHDOG 10

C_PITCH 2500 INT_PRESSURE_YINT 0 ROLL_MAXERRORS 1 UNCOM_BLEED 20

C_ROLL_CLIMB 2200 KALMAN_USE 1 ROLL_MIN 180 UPLOAD_DIVES_MAX -1

C_ROLL_DIVE 2600 KERMIT 0 ROLL_TIMEOUT 15 USE_BATHY -1

C_VBD 2564 MASS 50300 R_PORT_OVSHOOT 15 USE_ICE 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 18 VBD_BLEED_AD_RATE 10

DEEPGLIDERMB 0 MISSION 5 SEABIRD_C_G -10.209094 VBD_CNV -0.24529999

DEVICE1 2 MOTHERBOARD 4 SEABIRD_C_H 1.1488034 VBD_DBAND 2

DEVICE2 20 NAV_MODE 1 SEABIRD_C_I -0.0015548224 VBD_MAX 3583

DEVICE3 35 N_FILEKB 4 SEABIRD_C_J 0.00021813136 VBD_MAXERRORS 1

DEVICE4 -1 N_GPS 20 SEABIRD_T_G 0.0043762224 VBD_MIN 294

DEVICE5 -1 N_NOCOMM 1 SEABIRD_T_H 0.0006433985 VBD_PUMP_AD_RATE_APOGEE 2

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.5567888e-05 VBD_PUMP_AD_RATE_SURFACE 5

DIVE 36 PHONE_DEVICE 48 SEABIRD_T_J 2.722762e-06 VBD_TIMEOUT 720

D_ABORT 1090 PITCH_ADJ_DBAND 0 SIM_PITCH 0 XPDR_DEVICE 24

D_CALL 0 PITCH_ADJ_GAIN 0 SIM_W 0

Pre-dive calculations and measurements:

GPS1 093004,4742.511,-12634.196,41,2.0,49,18.8 TGT_NAME SW_47N_128W

_CALLS 1 TGT_LATLONG 4700.000,-12800.000

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.204,-0.160

_SM_DEPTHo 1.34 KALMAN_X 13044.6,127.5,8.8,-82443.8,-391.7

_SM_ANGLEo -59.6 KALMAN_Y 4582.7,395.6,277.7,-52078.6,-125.6

GPS2 093538,4742.507,-12634.218,33,2.0,34,18.8 MHEAD_RNG_PITCHd_Wd 213.1,133928,-17.9,-10.000

SPEED_LIMITS 0.165,0.247 D_GRID 1001

Post-dive calculations and measurements:

FINISH 0.6,1.014577 ALTIM_TOP_PING 19.7,18.3

SM_CCo 17889,75.07,0.767,1,0,932,400.08 _24V_AH 23.2,8.828

SM_GC 1.45,0.00,0.00,75.07,0.000,0.000,0.767,31,2609,932,-11.36,0.25,400.08 _10V_AH 10.1,4.081

IRIDIUM_FIX 4726.11,-12629.16,010797,040437 DATA_FILE_SIZE 28523,589

TT8_MAMPS 0.026078 CAP_FILE_SIZE 128444,0

HUMID 1797 CFSIZE 260165632,256368640

INTERNAL_PRESSURE 8.85776 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

TCM_TEMP 17.00 GPS 060408,143732,4740.709,-12637.212,41,1.5,41,18.8

XPDR_PINGS 0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 28 161 107.06 SBE_CT 418 24 232.97

Roll_motor 147 98 335.33 SBE_O2 469 19 207.04

VBD_pump_during_apogee 377 1464 12833.68 WL_BB2F 655 105 1596.37

VBD_pump_during_surface 75 767 1335.91 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 30 103 71.87 nil 0 0 0.00

Iridium_during_connect 25 160 93.31 nil 0 0 0.00

Iridium_during_xfer 130 223 676.74

Transponder_ping 9 420 87.70

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 34 50 17.19

TT8 1311 19 262.27

LPSleep 13670 2 302.38

TT8_Active 600 19 120.17

TT8_Sampling 2162 39 869.32

TT8_CF8 567 45 262.55

TT8_Kalman 33 81 27.57

Analog_circuits 1636 12 198.30

GPS_charging 0 0 0.00

Compass 2088 8 168.78

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

28 -1.81 -146.6 0.0 0.0 0 100 0.00 0.00 -70.03 0.000 2 0.000 0.000 32 2612 2339

105 -1.81 -146.6 4.0 -5.4 7 144 11.55 1.92 -20.62 0.000 4 0.161 0.098 2096 3622 3162

180 -1.81 -146.6 19.5 -20.1 14 183 0.00 1.83 0.00 0.000 6 0.000 0.048 2096 2578 3161

516 -1.81 -146.6 88.7 -20.1 61 517 0.00 0.00 0.00 0.000 6 0.000 0.000 2096 2578 3162

835 -1.81 -146.6 140.9 -15.7 91 839 0.00 2.00 0.00 0.000 4 0.000 0.081 2096 3631 3161

874 -1.81 -146.6 147.7 -16.4 94 880 0.00 1.83 0.00 0.000 6 0.000 0.048 2095 2602 3162

1201 -1.81 -146.6 194.8 -13.9 111 1203 0.00 0.00 0.00 0.000 6 0.000 0.000 2096 2602 3162

1511 -1.81 -146.6 237.5 -13.6 126 1512 0.00 0.00 0.00 0.000 6 0.000 0.000 2096 2602 3162

1820 -1.81 -146.6 278.3 -12.9 141 1824 0.00 2.50 0.00 0.000 4 0.000 0.054 2097 1204 3162

1892 -1.81 -146.6 287.9 -13.5 144 1897 0.00 2.50 0.00 0.000 6 0.000 0.050 2096 2603 3161

2246 -1.81 -146.6 333.9 -13.1 153 2247 0.00 0.00 0.00 0.000 6 0.000 0.000 2096 2603 3162

2548 -1.81 -146.6 372.8 -12.7 158 2552 0.00 2.55 0.00 0.000 4 0.000 0.063 2096 1205 3161

2603 -1.81 -146.6 380.1 -12.8 158 2610 0.00 2.53 0.00 0.000 6 0.000 0.058 2096 2598 3161

2913 -1.81 -146.6 420.8 -13.2 164 2918 0.00 2.58 0.00 0.000 4 0.000 0.069 2096 1206 3161

2964 -1.81 -146.6 427.7 -12.6 164 2969 0.00 2.58 0.00 0.000 6 0.000 0.066 2096 2607 3161

3274 -1.81 -146.6 468.7 -13.2 169 3275 0.00 0.00 0.00 0.000 6 0.000 0.000 2096 2607 3160

3577 -1.81 -146.6 509.2 -13.5 174 3582 0.00 2.72 0.00 0.000 4 0.000 0.094 2096 1207 3161

3633 -1.81 -146.6 517.0 -13.4 174 3640 0.00 2.72 0.00 0.000 6 0.000 0.094 2096 2604 3160

3944 -1.81 -146.6 556.8 -12.8 180 3949 0.00 2.70 0.00 0.000 4 0.000 0.089 2096 1201 3160

4000 -1.81 -146.6 564.0 -11.9 180 4007 0.00 2.70 0.00 0.000 6 0.000 0.087 2096 2602 3159

4311 -1.81 -146.6 601.0 -11.9 186 4312 0.00 0.00 0.00 0.000 6 0.000 0.000 2096 2602 3159

4613 -1.81 -146.6 636.6 -11.7 191 4618 0.00 2.67 0.00 0.000 4 0.000 0.088 2096 1209 3159

4687 -1.81 -146.6 645.3 -11.9 192 4691 0.00 2.67 0.00 0.000 6 0.000 0.085 2096 2603 3158

5041 -1.81 -146.6 686.8 -11.7 198 5046 0.00 2.67 0.00 0.000 4 0.000 0.086 2096 1206 3158

5086 -1.81 -146.6 692.2 -11.5 198 5091 0.00 2.67 0.00 0.000 6 0.000 0.084 2096 2601 3158

5403 -1.81 -146.6 728.9 -11.5 204 5404 0.00 0.00 0.00 0.000 6 0.000 0.000 2096 2601 3158

5706 -1.81 -146.6 764.3 -11.7 209 5711 0.00 2.67 0.00 0.000 4 0.000 0.086 2096 1202 3157

5757 -1.81 -146.6 770.6 -11.3 209 5761 0.00 2.67 0.00 0.000 6 0.000 0.084 2096 2601 3157

6068 -1.81 -146.6 806.5 -11.7 214 6072 0.00 2.67 0.00 0.000 4 0.000 0.086 2096 1203 3156

6130 -1.81 -146.6 814.1 -11.7 215 6134 0.00 2.67 0.00 0.000 6 0.000 0.084 2096 2601 3156

6497 -1.81 -146.6 855.0 -11.0 221 6498 0.00 0.00 0.00 0.000 6 0.000 0.000 2096 2600 3156

6799 -1.81 -146.6 885.4 -10.0 226 6803 0.00 2.67 0.00 0.000 4 0.000 0.085 2096 1201 3155

6866 -1.81 -146.6 892.3 -10.2 227 6870 0.00 2.67 0.00 0.000 6 0.000 0.084 2096 2604 3155

7227 -1.81 -146.6 926.7 -9.5 233 7231 0.00 2.67 0.00 0.000 4 0.000 0.085 2097 1202 3155

7294 -1.81 -146.6 933.5 -9.8 234 7299 0.00 2.67 0.00 0.000 6 0.000 0.083 2096 2607 3155

7655 -1.81 -146.6 969.8 -10.2 240 7656 0.00 0.00 0.00 0.000 6 0.000 0.000 2096 2607 3155

7894 end dive: TARGET_DEPTH_EXCEEDED

state 7894 begin apogee

7903 -0.45 0.0 995.0 10.3 244 8033 1.42 0.00 126.25 1.464 6 0.078 0.000 2397 2214 2564

8034 end apogee: CONTROL_FINISHED_OK

state 8034 begin climb

8037 1.81 146.6 999.1 0.0 246 8170 2.25 0.00 126.82 1.429 6 0.045 0.000 2896 2214 1965

8507 1.81 146.6 965.5 10.2 254 8512 0.00 2.78 0.00 0.000 4 0.000 0.096 2896 792 1965

8704 1.81 146.6 944.3 10.9 257 8708 0.00 2.70 0.00 0.000 6 0.000 0.074 2896 2207 1965

9069 1.81 146.6 906.6 10.3 263 9074 0.00 2.80 0.00 0.000 4 0.000 0.094 2896 786 1965

9328 1.81 146.6 877.9 11.3 266 9334 0.00 2.70 0.00 0.000 6 0.000 0.074 2896 2209 1965

9637 1.81 146.6 845.1 10.6 272 9642 0.00 2.78 0.00 0.000 4 0.000 0.093 2896 791 1965

9835 1.81 146.6 823.5 10.8 275 9839 0.00 2.67 0.00 0.000 6 0.000 0.074 2896 2201 1964

10200 1.81 146.6 785.6 10.3 281 10205 0.00 2.75 0.00 0.000 4 0.000 0.092 2896 793 1964

10457 1.81 146.6 757.9 10.4 284 10463 0.00 2.65 0.00 0.000 6 0.000 0.073 2895 2201 1964

10767 1.81 146.6 725.5 10.5 290 10772 0.00 2.75 0.00 0.000 4 0.000 0.091 2896 790 1964

11026 1.81 146.6 697.5 10.7 293 11032 0.00 2.65 0.00 0.000 6 0.000 0.072 2895 2201 1964

11336 1.81 146.6 666.0 10.2 299 11340 0.00 2.75 0.00 0.000 4 0.000 0.091 2896 789 1964

11594 1.81 147.5 639.6 10.0 302 11600 0.00 2.65 0.00 0.000 6 0.000 0.072 2896 2201 1964

11904 1.84 170.3 611.9 8.9 308 11932 0.00 2.80 21.35 1.199 4 0.000 0.090 2896 791 1868

12181 1.84 170.3 584.0 10.5 312 12185 0.00 2.65 0.00 0.000 6 0.000 0.071 2896 2201 1868

12536 1.84 170.9 548.7 10.0 318 12540 0.00 2.72 0.00 0.000 4 0.000 0.087 2896 792 1869

12754 1.84 170.9 526.2 10.3 321 12759 0.00 2.62 0.00 0.000 6 0.000 0.067 2896 2201 1868

13098 1.84 173.6 492.5 9.9 327 13107 0.00 2.75 4.32 0.808 4 0.000 0.084 2896 785 1856

13293 1.84 173.6 471.6 11.6 330 13298 0.00 2.62 0.00 0.000 6 0.000 0.061 2896 2204 1856

13660 1.84 173.6 433.4 10.5 336 13664 0.00 2.67 0.00 0.000 4 0.000 0.075 2896 786 1856

13917 1.84 173.6 405.8 11.6 339 13923 0.00 2.58 0.00 0.000 6 0.000 0.053 2896 2209 1856

14227 1.84 173.6 373.7 10.3 345 14231 0.00 2.62 0.00 0.000 4 0.000 0.068 2896 790 1856

14351 1.85 176.0 360.6 9.9 346 14360 0.00 2.53 3.97 0.720 6 0.000 0.049 2896 2202 1846

14727 1.85 176.0 322.0 10.3 353 14732 0.00 2.62 0.00 0.000 4 0.000 0.066 2896 782 1845

14829 1.85 176.0 311.0 11.2 354 14833 0.00 2.53 0.00 0.000 6 0.000 0.046 2896 2205 1845

15160 1.85 176.0 277.6 10.2 366 15164 0.00 2.62 0.00 0.000 4 0.000 0.065 2896 781 1846

15358 1.85 176.3 257.0 10.0 375 15362 0.00 2.53 0.00 0.000 6 0.000 0.044 2896 2208 1846

15685 1.87 197.8 226.0 9.0 391 15710 0.00 2.70 19.30 0.943 4 0.000 0.064 2896 783 1757

15879 1.88 201.0 206.3 9.9 399 15889 0.00 2.53 4.80 0.719 6 0.000 0.044 2896 2204 1744

16218 1.89 211.5 173.7 9.5 416 16230 0.00 0.00 10.00 0.869 6 0.000 0.000 2896 2204 1701

16529 1.89 211.5 142.6 10.1 434 16530 0.00 0.00 0.00 0.000 6 0.000 0.000 2896 2204 1701

16850 1.93 244.0 110.0 8.5 464 16881 0.10 0.00 27.70 0.872 6 0.074 0.000 2920 2204 1569

17198 1.98 284.3 77.0 8.1 500 17238 0.00 2.70 33.28 0.842 4 0.000 0.077 2919 3606 1404

17437 1.98 284.3 50.4 12.3 542 17444 0.00 2.50 0.00 0.000 6 0.000 0.042 2920 2186 1404

17769 1.98 284.3 11.9 12.4 580 17770 0.00 0.00 0.00 0.000 6 0.000 0.000 2920 2182 1404

17850 end climb: SURFACE_DEPTH_REACHED

state 17850 begin surface coast

17862 end surface coast: CONTROL_FINISHED_OK

state 17862 begin surface

ID	101	HD_C	3.1312e-05	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	20
MISSION	5	HEADING	-1	PITCH_ADJ_GAIN	0	ALTIM_BOTTOM_TURN_MARGIN	10
DIVE	36	ESCAPE_HEADING	60	PITCH_ADJ_DBAND	0	ALTIM_TOP_TURN_MARGIN	0
D_SURF	2	ESCAPE_HEADING_DELTA	10	ROLL_MIN	180	ALTIM_TOP_MIN_OBSTACLE	1
D_FLARE	3	FIX_MISSING_TIMEOUT	0	ROLL_MAX	3635	ALTIM_PING_DEPTH	125
D_TGT	990	TGT_DEFAULT_LAT	48.150002	ROLL_DEG	40	ALTIM_PING_DELTA	25
D_ABORT	1090	TGT_DEFAULT_LON	-125.67	C_ROLL_DIVE	2600	ALTIM_FREQUENCY	13
D_NO_BLEED	200	TGT_AUTO_DEFAULT	0	C_ROLL_CLIMB	2200	ALTIM_PULSE	5
D_FINISH	0	SM_CC	400	HEAD_ERRBAND	15	ALTIM_SENSITIVITY	4
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	0
D_CALL	0	CALL_NDIVES	1	R_PORT_OVSHOOT	15	DEEPGLIDER	0
SURFACE_URGENCY	0	COMM_SEQ	0	R_STBD_OVSHOOT	18	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	KERMIT	0	ROLL_AD_RATE	350	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	N_NOCOMM	1	ROLL_MAXERRORS	1	DEVICE1	2
T_DIVE	330	N_NOSURFACE	0	ROLL_ADJ_GAIN	0	DEVICE2	20
T_MISSION	360	UPLOAD_DIVES_MAX	-1	ROLL_ADJ_DBAND	0	DEVICE3	35
T_ABORT	1440	CALL_TRIES	5	VBD_MIN	294	DEVICE4	-1
T_TURN	225	CALL_WAIT	60	VBD_MAX	3583	DEVICE5	-1
T_TURN_SAMPINT	5	CAPUPLOAD	0	C_VBD	2564	DEVICE6	-1
T_NO_W	120	CAPMAXSIZE	100000	VBD_DBAND	2	SMARTS	0
USE_BATHY	-1	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	1001	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_SURFACE	5	PHONE_DEVICE	48
T_WATCHDOG	10	T_GPS_CHARGE	-691356.62	VBD_PUMP_AD_RATE_APOGEE	2	GPS_DEVICE	32
RELAUNCH	1	T_RSLEEP	2	VBD_BLEED_AD_RATE	10	RAFOS_DEVICE	-1
APOGEE_PITCH	-5	RAFOS_PEAK_OFFSET	1.5	UNCOM_BLEED	20	XPDR_DEVICE	24
MAX_BUOY	150	RAFOS_CORR_THRESH	60	VBD_MAXERRORS	1	SIM_W	0
COURSE_BIAS	0	RAFOS_HIT_WINDOW	3600	CF8_MAXERRORS	2	SIM_PITCH	0
GLIDE_SLOPE	30	PITCH_MIN	29	AH0_24V	91.800003	SEABIRD_T_G	0.0043762224
SPEED_FACTOR	0.94999993	PITCH_MAX	3302	AH0_10V	61.200001	SEABIRD_T_H	0.0006433985
RHO	1.023	C_PITCH	2500	PRESSURE_YINT	-14.435382	SEABIRD_T_I	2.5567888e-05
MASS	50300	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.000115925	SEABIRD_T_J	2.722762e-06
NAV_MODE	1	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_C_G	-10.209094
FERRY_MAX	45	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	-1.3	SEABIRD_C_H	1.1488034
KALMAN_USE	1	PITCH_GAIN	11	TCM_ROLL_OFFSET	-0.2	SEABIRD_C_I	-0.0015548224
HD_A	0.0034169999	PITCH_TIMEOUT	17	COMPASS_USE	0	SEABIRD_C_J	0.00021813136
HD_B	0.0095870001	PITCH_AD_RATE	175	ALTIM_BOTTOM_PING_RANGE	0

GPS1	093004,4742.511,-12634.196,41,2.0,49,18.8	TGT_NAME	SW_47N_128W
_CALLS	1	TGT_LATLONG	4700.000,-12800.000
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.204,-0.160
_SM_DEPTHo	1.34	KALMAN_X	13044.6,127.5,8.8,-82443.8,-391.7
_SM_ANGLEo	-59.6	KALMAN_Y	4582.7,395.6,277.7,-52078.6,-125.6
GPS2	093538,4742.507,-12634.218,33,2.0,34,18.8	MHEAD_RNG_PITCHd_Wd	213.1,133928,-17.9,-10.000
SPEED_LIMITS	0.165,0.247	D_GRID	1001

FINISH	0.6,1.014577	ALTIM_TOP_PING	19.7,18.3
SM_CCo	17889,75.07,0.767,1,0,932,400.08	_24V_AH	23.2,8.828
SM_GC	1.45,0.00,0.00,75.07,0.000,0.000,0.767,31,2609,932,-11.36,0.25,400.08	_10V_AH	10.1,4.081
IRIDIUM_FIX	4726.11,-12629.16,010797,040437	DATA_FILE_SIZE	28523,589
TT8_MAMPS	0.026078	CAP_FILE_SIZE	128444,0
HUMID	1797	CFSIZE	260165632,256368640
INTERNAL_PRESSURE	8.85776	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
TCM_TEMP	17.00	GPS	060408,143732,4740.709,-12637.212,41,1.5,41,18.8
XPDR_PINGS	0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	28	161	107.06	SBE_CT	418	24	232.97
Roll_motor	147	98	335.33	SBE_O2	469	19	207.04
VBD_pump_during_apogee	377	1464	12833.68	WL_BB2F	655	105	1596.37
VBD_pump_during_surface	75	767	1335.91	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	30	103	71.87	nil	0	0	0.00
Iridium_during_connect	25	160	93.31	nil	0	0	0.00
Iridium_during_xfer	130	223	676.74
Transponder_ping	9	420	87.70
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	34	50	17.19
TT8	1311	19	262.27
LPSleep	13670	2	302.38
TT8_Active	600	19	120.17
TT8_Sampling	2162	39	869.32
TT8_CF8	567	45	262.55
TT8_Kalman	33	81	27.57
Analog_circuits	1636	12	198.30
GPS_charging	0	0	0.00
Compass	2088	8	168.78
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
28	-1.81	-146.6	0.0	0.0	0	100	0.00	0.00	-70.03	0.000	2	0.000	0.000	32	2612	2339
105	-1.81	-146.6	4.0	-5.4	7	144	11.55	1.92	-20.62	0.000	4	0.161	0.098	2096	3622	3162
180	-1.81	-146.6	19.5	-20.1	14	183	0.00	1.83	0.00	0.000	6	0.000	0.048	2096	2578	3161
516	-1.81	-146.6	88.7	-20.1	61	517	0.00	0.00	0.00	0.000	6	0.000	0.000	2096	2578	3162
835	-1.81	-146.6	140.9	-15.7	91	839	0.00	2.00	0.00	0.000	4	0.000	0.081	2096	3631	3161
874	-1.81	-146.6	147.7	-16.4	94	880	0.00	1.83	0.00	0.000	6	0.000	0.048	2095	2602	3162
1201	-1.81	-146.6	194.8	-13.9	111	1203	0.00	0.00	0.00	0.000	6	0.000	0.000	2096	2602	3162
1511	-1.81	-146.6	237.5	-13.6	126	1512	0.00	0.00	0.00	0.000	6	0.000	0.000	2096	2602	3162
1820	-1.81	-146.6	278.3	-12.9	141	1824	0.00	2.50	0.00	0.000	4	0.000	0.054	2097	1204	3162
1892	-1.81	-146.6	287.9	-13.5	144	1897	0.00	2.50	0.00	0.000	6	0.000	0.050	2096	2603	3161
2246	-1.81	-146.6	333.9	-13.1	153	2247	0.00	0.00	0.00	0.000	6	0.000	0.000	2096	2603	3162
2548	-1.81	-146.6	372.8	-12.7	158	2552	0.00	2.55	0.00	0.000	4	0.000	0.063	2096	1205	3161
2603	-1.81	-146.6	380.1	-12.8	158	2610	0.00	2.53	0.00	0.000	6	0.000	0.058	2096	2598	3161
2913	-1.81	-146.6	420.8	-13.2	164	2918	0.00	2.58	0.00	0.000	4	0.000	0.069	2096	1206	3161
2964	-1.81	-146.6	427.7	-12.6	164	2969	0.00	2.58	0.00	0.000	6	0.000	0.066	2096	2607	3161
3274	-1.81	-146.6	468.7	-13.2	169	3275	0.00	0.00	0.00	0.000	6	0.000	0.000	2096	2607	3160
3577	-1.81	-146.6	509.2	-13.5	174	3582	0.00	2.72	0.00	0.000	4	0.000	0.094	2096	1207	3161
3633	-1.81	-146.6	517.0	-13.4	174	3640	0.00	2.72	0.00	0.000	6	0.000	0.094	2096	2604	3160
3944	-1.81	-146.6	556.8	-12.8	180	3949	0.00	2.70	0.00	0.000	4	0.000	0.089	2096	1201	3160
4000	-1.81	-146.6	564.0	-11.9	180	4007	0.00	2.70	0.00	0.000	6	0.000	0.087	2096	2602	3159
4311	-1.81	-146.6	601.0	-11.9	186	4312	0.00	0.00	0.00	0.000	6	0.000	0.000	2096	2602	3159
4613	-1.81	-146.6	636.6	-11.7	191	4618	0.00	2.67	0.00	0.000	4	0.000	0.088	2096	1209	3159
4687	-1.81	-146.6	645.3	-11.9	192	4691	0.00	2.67	0.00	0.000	6	0.000	0.085	2096	2603	3158
5041	-1.81	-146.6	686.8	-11.7	198	5046	0.00	2.67	0.00	0.000	4	0.000	0.086	2096	1206	3158
5086	-1.81	-146.6	692.2	-11.5	198	5091	0.00	2.67	0.00	0.000	6	0.000	0.084	2096	2601	3158
5403	-1.81	-146.6	728.9	-11.5	204	5404	0.00	0.00	0.00	0.000	6	0.000	0.000	2096	2601	3158
5706	-1.81	-146.6	764.3	-11.7	209	5711	0.00	2.67	0.00	0.000	4	0.000	0.086	2096	1202	3157
5757	-1.81	-146.6	770.6	-11.3	209	5761	0.00	2.67	0.00	0.000	6	0.000	0.084	2096	2601	3157
6068	-1.81	-146.6	806.5	-11.7	214	6072	0.00	2.67	0.00	0.000	4	0.000	0.086	2096	1203	3156
6130	-1.81	-146.6	814.1	-11.7	215	6134	0.00	2.67	0.00	0.000	6	0.000	0.084	2096	2601	3156
6497	-1.81	-146.6	855.0	-11.0	221	6498	0.00	0.00	0.00	0.000	6	0.000	0.000	2096	2600	3156
6799	-1.81	-146.6	885.4	-10.0	226	6803	0.00	2.67	0.00	0.000	4	0.000	0.085	2096	1201	3155
6866	-1.81	-146.6	892.3	-10.2	227	6870	0.00	2.67	0.00	0.000	6	0.000	0.084	2096	2604	3155
7227	-1.81	-146.6	926.7	-9.5	233	7231	0.00	2.67	0.00	0.000	4	0.000	0.085	2097	1202	3155
7294	-1.81	-146.6	933.5	-9.8	234	7299	0.00	2.67	0.00	0.000	6	0.000	0.083	2096	2607	3155
7655	-1.81	-146.6	969.8	-10.2	240	7656	0.00	0.00	0.00	0.000	6	0.000	0.000	2096	2607	3155
7894	end dive: TARGET_DEPTH_EXCEEDED
state	7894	begin apogee
7903	-0.45	0.0	995.0	10.3	244	8033	1.42	0.00	126.25	1.464	6	0.078	0.000	2397	2214	2564
8034	end apogee: CONTROL_FINISHED_OK
state	8034	begin climb
8037	1.81	146.6	999.1	0.0	246	8170	2.25	0.00	126.82	1.429	6	0.045	0.000	2896	2214	1965
8507	1.81	146.6	965.5	10.2	254	8512	0.00	2.78	0.00	0.000	4	0.000	0.096	2896	792	1965
8704	1.81	146.6	944.3	10.9	257	8708	0.00	2.70	0.00	0.000	6	0.000	0.074	2896	2207	1965
9069	1.81	146.6	906.6	10.3	263	9074	0.00	2.80	0.00	0.000	4	0.000	0.094	2896	786	1965
9328	1.81	146.6	877.9	11.3	266	9334	0.00	2.70	0.00	0.000	6	0.000	0.074	2896	2209	1965
9637	1.81	146.6	845.1	10.6	272	9642	0.00	2.78	0.00	0.000	4	0.000	0.093	2896	791	1965
9835	1.81	146.6	823.5	10.8	275	9839	0.00	2.67	0.00	0.000	6	0.000	0.074	2896	2201	1964
10200	1.81	146.6	785.6	10.3	281	10205	0.00	2.75	0.00	0.000	4	0.000	0.092	2896	793	1964
10457	1.81	146.6	757.9	10.4	284	10463	0.00	2.65	0.00	0.000	6	0.000	0.073	2895	2201	1964
10767	1.81	146.6	725.5	10.5	290	10772	0.00	2.75	0.00	0.000	4	0.000	0.091	2896	790	1964
11026	1.81	146.6	697.5	10.7	293	11032	0.00	2.65	0.00	0.000	6	0.000	0.072	2895	2201	1964
11336	1.81	146.6	666.0	10.2	299	11340	0.00	2.75	0.00	0.000	4	0.000	0.091	2896	789	1964
11594	1.81	147.5	639.6	10.0	302	11600	0.00	2.65	0.00	0.000	6	0.000	0.072	2896	2201	1964
11904	1.84	170.3	611.9	8.9	308	11932	0.00	2.80	21.35	1.199	4	0.000	0.090	2896	791	1868
12181	1.84	170.3	584.0	10.5	312	12185	0.00	2.65	0.00	0.000	6	0.000	0.071	2896	2201	1868
12536	1.84	170.9	548.7	10.0	318	12540	0.00	2.72	0.00	0.000	4	0.000	0.087	2896	792	1869
12754	1.84	170.9	526.2	10.3	321	12759	0.00	2.62	0.00	0.000	6	0.000	0.067	2896	2201	1868
13098	1.84	173.6	492.5	9.9	327	13107	0.00	2.75	4.32	0.808	4	0.000	0.084	2896	785	1856
13293	1.84	173.6	471.6	11.6	330	13298	0.00	2.62	0.00	0.000	6	0.000	0.061	2896	2204	1856
13660	1.84	173.6	433.4	10.5	336	13664	0.00	2.67	0.00	0.000	4	0.000	0.075	2896	786	1856
13917	1.84	173.6	405.8	11.6	339	13923	0.00	2.58	0.00	0.000	6	0.000	0.053	2896	2209	1856
14227	1.84	173.6	373.7	10.3	345	14231	0.00	2.62	0.00	0.000	4	0.000	0.068	2896	790	1856
14351	1.85	176.0	360.6	9.9	346	14360	0.00	2.53	3.97	0.720	6	0.000	0.049	2896	2202	1846
14727	1.85	176.0	322.0	10.3	353	14732	0.00	2.62	0.00	0.000	4	0.000	0.066	2896	782	1845
14829	1.85	176.0	311.0	11.2	354	14833	0.00	2.53	0.00	0.000	6	0.000	0.046	2896	2205	1845
15160	1.85	176.0	277.6	10.2	366	15164	0.00	2.62	0.00	0.000	4	0.000	0.065	2896	781	1846
15358	1.85	176.3	257.0	10.0	375	15362	0.00	2.53	0.00	0.000	6	0.000	0.044	2896	2208	1846
15685	1.87	197.8	226.0	9.0	391	15710	0.00	2.70	19.30	0.943	4	0.000	0.064	2896	783	1757
15879	1.88	201.0	206.3	9.9	399	15889	0.00	2.53	4.80	0.719	6	0.000	0.044	2896	2204	1744
16218	1.89	211.5	173.7	9.5	416	16230	0.00	0.00	10.00	0.869	6	0.000	0.000	2896	2204	1701
16529	1.89	211.5	142.6	10.1	434	16530	0.00	0.00	0.00	0.000	6	0.000	0.000	2896	2204	1701
16850	1.93	244.0	110.0	8.5	464	16881	0.10	0.00	27.70	0.872	6	0.074	0.000	2920	2204	1569
17198	1.98	284.3	77.0	8.1	500	17238	0.00	2.70	33.28	0.842	4	0.000	0.077	2919	3606	1404
17437	1.98	284.3	50.4	12.3	542	17444	0.00	2.50	0.00	0.000	6	0.000	0.042	2920	2186	1404
17769	1.98	284.3	11.9	12.4	580	17770	0.00	0.00	0.00	0.000	6	0.000	0.000	2920	2182	1404
17850	end climb: SURFACE_DEPTH_REACHED
state	17850	begin surface coast
17862	end surface coast: CONTROL_FINISHED_OK
state	17862	begin surface