Glider dive log

NAB Apr08 * SG140 * Dive index * Mission links * Dive 36 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 140 HD_C 9.9999997e-06 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0

MISSION 5 HEADING 270 PITCH_ADJ_GAIN 0.02 ALTIM_BOTTOM_TURN_MARGIN 0

DIVE 36 ESCAPE_HEADING 0 PITCH_ADJ_DBAND 2 ALTIM_TOP_TURN_MARGIN 0

D_SURF 2 ESCAPE_HEADING_DELTA 10 ROLL_MIN 157 ALTIM_TOP_MIN_OBSTACLE 1

D_FLARE 3 FIX_MISSING_TIMEOUT 0 ROLL_MAX 3940 ALTIM_PING_DEPTH 0

D_TGT 750 TGT_DEFAULT_LAT 5900 ROLL_DEG 40 ALTIM_PING_DELTA 0

D_ABORT 800 TGT_DEFAULT_LON -2030 C_ROLL_DIVE 2235 ALTIM_FREQUENCY 13

D_NO_BLEED 350 TGT_AUTO_DEFAULT 0 C_ROLL_CLIMB 2330 ALTIM_PULSE 3

D_FINISH 0 SM_CC 200 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 2

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 11 DEEPGLIDER 0

SURFACE_URGENCY 0 COMM_SEQ 0 R_STBD_OVSHOOT 12 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 250 N_NOSURFACE 0 ROLL_ADJ_GAIN 3 DEVICE2 20

T_MISSION 280 UPLOAD_DIVES_MAX -1 ROLL_ADJ_DBAND 0.029999999 DEVICE3 35

T_ABORT 720 CALL_TRIES 5 VBD_MIN 520 DEVICE4 53

T_TURN 225 CALL_WAIT 60 VBD_MAX 3978 DEVICE5 -1

T_TURN_SAMPINT 5 CAPUPLOAD 0 C_VBD 3085 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 5 PHONE_DEVICE 48

T_WATCHDOG 10 T_GPS_CHARGE -13840.825 VBD_PUMP_AD_RATE_APOGEE 4 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 592 AH0_24V 91.800003 SEABIRD_T_G 0.0043273787

SPEED_FACTOR 1 PITCH_MAX 3894 AH0_10V 100 SEABIRD_T_H 0.0006414231

RHO 1.0273 C_PITCH 2960 PRESSURE_YINT -1.4601949 SEABIRD_T_I 2.3931538e-05

MASS 51662 PITCH_DBAND 0.1 PRESSURE_SLOPE 9.0994887e-05 SEABIRD_T_J 2.340664e-06

NAV_MODE 0 PITCH_CNV 0.0046000001 AD7714Ch0Gain 64 SEABIRD_C_G -10.258962

FERRY_MAX 0 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1819305

KALMAN_USE 2 PITCH_GAIN 14.2 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 175 ALTIM_BOTTOM_PING_RANGE 0

AD7714Ch0Gain 64 D_FINISH 0 PITCH_AD_RATE 175 SMARTDEVICE1 -1

AH0_10V 100 D_FLARE 3 PITCH_CNV 0.0046000001 SMARTDEVICE2 -1

AH0_24V 91.800003 D_NO_BLEED 350 PITCH_DBAND 0.1 SMARTS 0

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 100 PITCH_GAIN 14.2 SM_CC 200

ALTIM_BOTTOM_TURN_MARGIN 0 D_PITCH 0 PITCH_MAX 3894 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 0 D_SURF 2 PITCH_MIN 592 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 0 D_TGT 750 PITCH_TIMEOUT 15 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 3 ESCAPE_HEADING 0 PITCH_VBD_SHIFT 0.0012300001 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 2 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 9.0994887e-05 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 0 PRESSURE_YINT -1.4601949 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 250

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 -13840.825

CAPUPLOAD 0 HEADING 270 ROLL_ADJ_DBAND 0.029999999 T_MISSION 280

CF8_MAXERRORS 20 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 3 T_NO_W 120

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 350 T_RSLEEP 3

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN 225

COMPASS_USE 0 ID 140 ROLL_DEG 40 T_TURN_SAMPINT 5

COURSE_BIAS 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3940 T_WATCHDOG 10

C_PITCH 2960 INT_PRESSURE_YINT 0 ROLL_MAXERRORS 1 UNCOM_BLEED 20

C_ROLL_CLIMB 2330 KALMAN_USE 2 ROLL_MIN 157 UPLOAD_DIVES_MAX -1

C_ROLL_DIVE 2235 KERMIT 0 ROLL_TIMEOUT 15 USE_BATHY 0

C_VBD 3085 MASS 51662 R_PORT_OVSHOOT 11 USE_ICE 0

DEEPGLIDER 0 MAX_BUOY 200 R_STBD_OVSHOOT 12 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 0 SEABIRD_C_I -0.0037964056 VBD_MAX 3978

DEVICE3 35 N_FILEKB 4 SEABIRD_C_J 0.00031207138 VBD_MAXERRORS 1

DEVICE4 53 N_GPS 20 SEABIRD_T_G 0.0043273787 VBD_MIN 520

DEVICE5 -1 N_NOCOMM 1 SEABIRD_T_H 0.0006414231 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.3931538e-05 VBD_PUMP_AD_RATE_SURFACE 5

DIVE 36 PHONE_DEVICE 48 SEABIRD_T_J 2.340664e-06 VBD_TIMEOUT 720

D_ABORT 800 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 132931,5904.240,-1840.687,40,1.7,40,-13.3 TGT_NAME HEADING

_CALLS 2 TGT_LATLONG 5904.260,-1846.168

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 0.90 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -59.2 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 134027,5904.260,-1840.618,15,1.5,15,-13.3 MHEAD_RNG_PITCHd_Wd 283.3,20000,-14.9,-10.000

SPEED_LIMITS 0.173,0.295 D_GRID 750

Post-dive calculations and measurements:

FINISH 0.3,1.020405 XPDR_PINGS 120

SM_CCo 15537,0.00,0.000,0,0,1590,366.48 _24V_AH 23.5,15.020

SM_GC 0.80,11.62,0.00,0.00,0.044,0.000,0.000,592,2227,1590,-10.84,-0.23,366.48 _10V_AH 10.7,8.162

IRIDIUM_FIX 5841.97,-1844.62,060797,131329 DATA_FILE_SIZE 138798,2453

TT8_MAMPS 0.02301 CAP_FILE_SIZE 180494,0

HUMID 1570 CFSIZE 260165632,253558784

INTERNAL_PRESSURE 8.42806 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 18.50 GPS 110408,180101,5904.440,-1842.861,38,1.0,43,-13.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 27 197 126.69 SBE_CT 1694 24 955.88

Roll_motor 77 138 251.52 SBE_O2 1839 19 821.23

VBD_pump_during_apogee 463 1256 13676.32 WL_BB2F 1873 105 4622.36

VBD_pump_during_surface 0 0 0.00 Optode 1156 33 897.24

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 53 103 129.30 nil 0 0 0.00

Iridium_during_connect 69 160 261.63 nil 0 0 0.00

Iridium_during_xfer 322 223 1688.78

Transponder_ping 30 420 296.10

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 15 50 8.47

TT8 3642 19 771.66

LPSleep 7042 2 165.02

TT8_Active 588 19 124.58

TT8_Sampling 4112 39 1751.49

TT8_CF8 786 45 385.33

TT8_Kalman 0 0 0.00

Analog_circuits 2380 12 305.71

GPS_charging 0 0 0.00

Compass 4115 8 352.26

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

26 -1.29 -194.7 0.0 0.0 0 94 0.00 0.00 -65.10 0.000 2 0.000 0.000 590 2232 3482

96 -1.29 -194.7 3.6 -11.0 12 126 12.65 2.78 -8.50 0.000 4 0.197 0.114 2665 3648 3881

364 -1.29 -194.7 35.0 -8.6 59 370 0.00 2.65 0.00 0.000 6 0.000 0.087 2665 2227 3882

506 -1.29 -194.7 48.6 -10.1 84 512 0.00 2.70 0.00 0.000 4 0.000 0.105 2665 819 3882

535 -1.29 -194.7 51.9 -10.8 89 542 0.00 2.65 0.00 0.000 6 0.000 0.093 2665 2223 3882

678 -1.29 -194.7 65.5 -8.3 114 683 0.00 0.00 0.00 0.000 6 0.000 0.000 2665 2223 3882

821 -1.29 -194.7 79.0 -9.8 139 826 0.00 0.00 0.00 0.000 6 0.000 0.000 2665 2223 3882

962 -1.29 -194.7 93.9 -10.2 164 968 0.00 0.00 0.00 0.000 6 0.000 0.000 2665 2223 3882

1104 -1.29 -194.7 108.2 -10.0 189 1110 0.00 2.72 0.00 0.000 4 0.000 0.106 2665 3648 3882

1139 -1.29 -194.7 112.0 -11.1 195 1145 0.00 2.67 0.00 0.000 6 0.000 0.090 2665 2219 3881

1281 -1.29 -194.7 126.6 -10.0 220 1287 0.00 0.00 0.00 0.000 6 0.000 0.000 2665 2219 3882

1424 -1.29 -194.7 140.8 -9.5 245 1430 0.00 0.00 0.00 0.000 6 0.000 0.000 2666 2219 3882

1565 -1.29 -194.7 154.4 -9.4 270 1572 0.00 2.78 0.00 0.000 4 0.000 0.107 2665 3657 3882

1600 -1.29 -194.7 157.8 -9.7 276 1607 0.00 2.65 0.00 0.000 6 0.000 0.089 2665 2233 3882

1945 -1.29 -194.7 189.9 -9.6 337 1950 0.00 0.00 0.00 0.000 6 0.000 0.000 2665 2233 3882

2287 -1.29 -194.7 224.4 -9.3 398 2293 0.00 0.00 0.00 0.000 6 0.000 0.000 2665 2233 3882

2631 -1.29 -194.7 253.7 -8.5 459 2636 0.00 0.00 0.00 0.000 6 0.000 0.000 2665 2233 3882

2973 -1.29 -194.7 284.0 -9.1 520 2979 0.00 0.00 0.00 0.000 6 0.000 0.000 2665 2233 3882

3317 -1.29 -194.7 314.6 -9.0 581 3322 0.00 0.00 0.00 0.000 6 0.000 0.000 2665 2233 3882

3659 -1.29 -194.7 343.7 -8.0 642 3665 0.00 0.00 0.00 0.000 6 0.000 0.000 2666 2233 3882

4003 -1.29 -194.7 371.8 -8.9 703 4009 0.00 2.78 0.00 0.000 4 0.000 0.115 2665 3649 3882

4031 -1.29 -194.7 374.8 -10.3 708 4038 0.00 2.67 0.00 0.000 6 0.000 0.094 2665 2226 3882

4376 -1.29 -194.7 407.6 -9.6 769 4381 0.00 0.00 0.00 0.000 6 0.000 0.000 2665 2227 3882

4718 -1.29 -194.7 440.5 -10.1 830 4723 0.00 0.00 0.00 0.000 6 0.000 0.000 2665 2227 3882

5061 -1.29 -194.7 475.3 -9.9 891 5066 0.00 0.00 0.00 0.000 6 0.000 0.000 2665 2227 3882

5403 -1.29 -194.7 508.7 -9.9 952 5409 0.00 0.00 0.00 0.000 6 0.000 0.000 2665 2227 3881

5747 -1.29 -194.7 541.2 -8.9 1013 5752 0.00 0.00 0.00 0.000 6 0.000 0.000 2665 2227 3882

6089 -1.29 -194.7 572.9 -8.8 1074 6094 0.00 0.00 0.00 0.000 6 0.000 0.000 2665 2227 3881

6430 -1.29 -194.7 604.1 -9.3 1131 6434 0.00 2.80 0.00 0.000 4 0.000 0.120 2665 3649 3881

6473 -1.29 -194.7 608.4 -9.6 1134 6479 0.00 2.70 0.00 0.000 6 0.000 0.100 2665 2228 3881

6800 -1.29 -194.7 638.0 -8.8 1165 6801 0.00 0.00 0.00 0.000 6 0.000 0.000 2665 2228 3881

7118 -1.29 -194.7 667.2 -8.9 1195 7122 0.00 2.83 0.00 0.000 4 0.000 0.123 2665 3649 3881

7157 -1.29 -194.7 670.8 -9.4 1198 7161 0.00 2.70 0.00 0.000 6 0.000 0.102 2665 2237 3882

7483 -1.29 -194.7 699.2 -8.6 1228 7484 0.00 0.00 0.00 0.000 6 0.000 0.000 2665 2238 3881

7802 -1.29 -194.7 727.0 -9.3 1258 7803 0.00 0.00 0.00 0.000 6 0.000 0.000 2665 2238 3881

8063 end dive: TARGET_DEPTH_EXCEEDED

state 8063 begin apogee

8069 -0.35 0.0 750.6 9.4 1283 8236 1.02 0.00 160.65 1.256 6 0.101 0.000 2877 2329 3085

8237 end apogee: CONTROL_FINISHED_OK

state 8237 begin climb

8240 1.29 194.7 757.2 0.0 1300 8408 1.62 2.97 158.15 1.221 4 0.061 0.133 3237 919 2291

8442 1.22 194.7 741.0 14.1 1319 8447 0.00 2.80 0.00 0.000 6 0.000 0.110 3237 2331 2290

8769 1.13 194.7 700.2 12.2 1349 8774 0.15 2.88 0.00 0.000 4 0.111 0.126 3206 3743 2289

8813 1.06 194.7 694.7 11.7 1352 8819 0.00 2.78 0.00 0.000 6 0.000 0.104 3206 2322 2288

9139 1.01 194.7 659.8 11.1 1383 9141 0.12 0.00 0.00 0.000 6 0.113 0.000 3183 2322 2288

9457 1.03 204.0 627.5 9.7 1413 9471 0.00 2.90 8.95 1.064 4 0.000 0.119 3184 3744 2253

9512 0.99 204.0 621.7 10.5 1418 9516 0.00 2.75 0.00 0.000 6 0.000 0.102 3183 2334 2253

9841 0.99 204.0 588.6 11.1 1457 9846 0.00 0.00 0.00 0.000 6 0.000 0.000 3184 2334 2252

10183 0.99 204.0 553.8 10.0 1518 10188 0.00 0.00 0.00 0.000 6 0.000 0.000 3184 2334 2252

10525 0.99 204.0 518.6 10.4 1579 10530 0.00 0.00 0.00 0.000 6 0.000 0.000 3183 2334 2252

10867 0.99 204.7 484.0 10.0 1640 10873 0.00 2.78 0.00 0.000 4 0.000 0.114 3184 3742 2252

10890 0.99 204.7 481.6 10.3 1644 10897 0.00 2.70 0.00 0.000 6 0.000 0.097 3184 2328 2252

11235 0.99 204.7 447.4 10.0 1705 11240 0.00 0.00 0.00 0.000 6 0.000 0.000 3184 2329 2252

11577 1.01 222.2 414.4 9.4 1766 11599 0.00 2.83 16.30 1.012 4 0.000 0.114 3183 918 2179

11617 1.02 230.3 410.6 9.7 1773 11634 0.00 2.75 8.43 0.895 6 0.000 0.101 3183 2335 2145

11972 1.02 230.3 374.8 10.0 1836 11977 0.00 0.00 0.00 0.000 6 0.000 0.000 3183 2335 2145

12315 1.02 231.3 340.5 10.0 1897 12320 0.00 0.00 0.00 0.000 6 0.000 0.000 3184 2335 2144

12657 1.03 242.7 306.3 9.6 1958 12674 0.00 0.00 11.60 0.929 6 0.000 0.000 3183 2335 2094

13011 1.03 242.7 269.0 10.7 2021 13017 0.00 2.78 0.00 0.000 4 0.000 0.112 3183 915 2093

13046 1.03 242.7 265.1 10.8 2027 13052 0.00 2.70 0.00 0.000 6 0.000 0.098 3183 2330 2093

13389 1.03 242.7 229.4 10.5 2088 13395 0.00 0.00 0.00 0.000 6 0.000 0.000 3183 2330 2093

13732 1.03 242.7 192.7 10.2 2149 13737 0.00 0.00 0.00 0.000 6 0.000 0.000 3183 2331 2093

14074 1.03 242.7 156.0 11.7 2210 14080 0.00 0.00 0.00 0.000 6 0.000 0.000 3184 2331 2093

14418 1.03 242.7 117.6 10.4 2271 14424 0.00 2.75 0.00 0.000 4 0.000 0.110 3183 911 2093

14447 1.03 242.7 114.2 12.2 2276 14453 0.00 2.67 0.00 0.000 6 0.000 0.094 3183 2333 2094

14591 1.03 242.7 98.8 10.6 2301 14596 0.00 0.00 0.00 0.000 6 0.000 0.000 3183 2333 2093

14732 1.03 242.7 83.0 11.7 2326 14738 0.00 0.00 0.00 0.000 6 0.000 0.000 3183 2333 2093

14874 1.07 274.3 67.3 8.9 2351 14903 0.00 0.00 26.45 0.806 6 0.000 0.000 3183 2333 1965

15041 1.07 274.3 49.5 11.3 2380 15047 0.00 0.00 0.00 0.000 6 0.000 0.000 3183 2333 1962

15182 1.07 274.3 31.3 11.7 2405 15188 0.00 0.00 0.00 0.000 6 0.000 0.000 3183 2333 1962

15324 1.18 364.2 17.6 6.9 2430 15402 0.15 0.00 72.70 0.754 6 0.061 0.000 3226 2333 1599

15440 end climb: SURFACE_DEPTH_REACHED

state 15440 begin surface coast

15456 end surface coast: CONTROL_FINISHED_OK

state 15456 begin surface

ID	140	HD_C	9.9999997e-06	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0
MISSION	5	HEADING	270	PITCH_ADJ_GAIN	0.02	ALTIM_BOTTOM_TURN_MARGIN	0
DIVE	36	ESCAPE_HEADING	0	PITCH_ADJ_DBAND	2	ALTIM_TOP_TURN_MARGIN	0
D_SURF	2	ESCAPE_HEADING_DELTA	10	ROLL_MIN	157	ALTIM_TOP_MIN_OBSTACLE	1
D_FLARE	3	FIX_MISSING_TIMEOUT	0	ROLL_MAX	3940	ALTIM_PING_DEPTH	0
D_TGT	750	TGT_DEFAULT_LAT	5900	ROLL_DEG	40	ALTIM_PING_DELTA	0
D_ABORT	800	TGT_DEFAULT_LON	-2030	C_ROLL_DIVE	2235	ALTIM_FREQUENCY	13
D_NO_BLEED	350	TGT_AUTO_DEFAULT	0	C_ROLL_CLIMB	2330	ALTIM_PULSE	3
D_FINISH	0	SM_CC	200	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
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	11	DEEPGLIDER	0
SURFACE_URGENCY	0	COMM_SEQ	0	R_STBD_OVSHOOT	12	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	250	N_NOSURFACE	0	ROLL_ADJ_GAIN	3	DEVICE2	20
T_MISSION	280	UPLOAD_DIVES_MAX	-1	ROLL_ADJ_DBAND	0.029999999	DEVICE3	35
T_ABORT	720	CALL_TRIES	5	VBD_MIN	520	DEVICE4	53
T_TURN	225	CALL_WAIT	60	VBD_MAX	3978	DEVICE5	-1
T_TURN_SAMPINT	5	CAPUPLOAD	0	C_VBD	3085	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	5	PHONE_DEVICE	48
T_WATCHDOG	10	T_GPS_CHARGE	-13840.825	VBD_PUMP_AD_RATE_APOGEE	4	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	592	AH0_24V	91.800003	SEABIRD_T_G	0.0043273787
SPEED_FACTOR	1	PITCH_MAX	3894	AH0_10V	100	SEABIRD_T_H	0.0006414231
RHO	1.0273	C_PITCH	2960	PRESSURE_YINT	-1.4601949	SEABIRD_T_I	2.3931538e-05
MASS	51662	PITCH_DBAND	0.1	PRESSURE_SLOPE	9.0994887e-05	SEABIRD_T_J	2.340664e-06
NAV_MODE	0	PITCH_CNV	0.0046000001	AD7714Ch0Gain	64	SEABIRD_C_G	-10.258962
FERRY_MAX	0	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1819305
KALMAN_USE	2	PITCH_GAIN	14.2	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	175	ALTIM_BOTTOM_PING_RANGE	0

GPS1	132931,5904.240,-1840.687,40,1.7,40,-13.3	TGT_NAME	HEADING
_CALLS	2	TGT_LATLONG	5904.260,-1846.168
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	0.90	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-59.2	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	134027,5904.260,-1840.618,15,1.5,15,-13.3	MHEAD_RNG_PITCHd_Wd	283.3,20000,-14.9,-10.000
SPEED_LIMITS	0.173,0.295	D_GRID	750

FINISH	0.3,1.020405	XPDR_PINGS	120
SM_CCo	15537,0.00,0.000,0,0,1590,366.48	_24V_AH	23.5,15.020
SM_GC	0.80,11.62,0.00,0.00,0.044,0.000,0.000,592,2227,1590,-10.84,-0.23,366.48	_10V_AH	10.7,8.162
IRIDIUM_FIX	5841.97,-1844.62,060797,131329	DATA_FILE_SIZE	138798,2453
TT8_MAMPS	0.02301	CAP_FILE_SIZE	180494,0
HUMID	1570	CFSIZE	260165632,253558784
INTERNAL_PRESSURE	8.42806	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	18.50	GPS	110408,180101,5904.440,-1842.861,38,1.0,43,-13.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	27	197	126.69	SBE_CT	1694	24	955.88
Roll_motor	77	138	251.52	SBE_O2	1839	19	821.23
VBD_pump_during_apogee	463	1256	13676.32	WL_BB2F	1873	105	4622.36
VBD_pump_during_surface	0	0	0.00	Optode	1156	33	897.24
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	53	103	129.30	nil	0	0	0.00
Iridium_during_connect	69	160	261.63	nil	0	0	0.00
Iridium_during_xfer	322	223	1688.78
Transponder_ping	30	420	296.10
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	15	50	8.47
TT8	3642	19	771.66
LPSleep	7042	2	165.02
TT8_Active	588	19	124.58
TT8_Sampling	4112	39	1751.49
TT8_CF8	786	45	385.33
TT8_Kalman	0	0	0.00
Analog_circuits	2380	12	305.71
GPS_charging	0	0	0.00
Compass	4115	8	352.26
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
26	-1.29	-194.7	0.0	0.0	0	94	0.00	0.00	-65.10	0.000	2	0.000	0.000	590	2232	3482
96	-1.29	-194.7	3.6	-11.0	12	126	12.65	2.78	-8.50	0.000	4	0.197	0.114	2665	3648	3881
364	-1.29	-194.7	35.0	-8.6	59	370	0.00	2.65	0.00	0.000	6	0.000	0.087	2665	2227	3882
506	-1.29	-194.7	48.6	-10.1	84	512	0.00	2.70	0.00	0.000	4	0.000	0.105	2665	819	3882
535	-1.29	-194.7	51.9	-10.8	89	542	0.00	2.65	0.00	0.000	6	0.000	0.093	2665	2223	3882
678	-1.29	-194.7	65.5	-8.3	114	683	0.00	0.00	0.00	0.000	6	0.000	0.000	2665	2223	3882
821	-1.29	-194.7	79.0	-9.8	139	826	0.00	0.00	0.00	0.000	6	0.000	0.000	2665	2223	3882
962	-1.29	-194.7	93.9	-10.2	164	968	0.00	0.00	0.00	0.000	6	0.000	0.000	2665	2223	3882
1104	-1.29	-194.7	108.2	-10.0	189	1110	0.00	2.72	0.00	0.000	4	0.000	0.106	2665	3648	3882
1139	-1.29	-194.7	112.0	-11.1	195	1145	0.00	2.67	0.00	0.000	6	0.000	0.090	2665	2219	3881
1281	-1.29	-194.7	126.6	-10.0	220	1287	0.00	0.00	0.00	0.000	6	0.000	0.000	2665	2219	3882
1424	-1.29	-194.7	140.8	-9.5	245	1430	0.00	0.00	0.00	0.000	6	0.000	0.000	2666	2219	3882
1565	-1.29	-194.7	154.4	-9.4	270	1572	0.00	2.78	0.00	0.000	4	0.000	0.107	2665	3657	3882
1600	-1.29	-194.7	157.8	-9.7	276	1607	0.00	2.65	0.00	0.000	6	0.000	0.089	2665	2233	3882
1945	-1.29	-194.7	189.9	-9.6	337	1950	0.00	0.00	0.00	0.000	6	0.000	0.000	2665	2233	3882
2287	-1.29	-194.7	224.4	-9.3	398	2293	0.00	0.00	0.00	0.000	6	0.000	0.000	2665	2233	3882
2631	-1.29	-194.7	253.7	-8.5	459	2636	0.00	0.00	0.00	0.000	6	0.000	0.000	2665	2233	3882
2973	-1.29	-194.7	284.0	-9.1	520	2979	0.00	0.00	0.00	0.000	6	0.000	0.000	2665	2233	3882
3317	-1.29	-194.7	314.6	-9.0	581	3322	0.00	0.00	0.00	0.000	6	0.000	0.000	2665	2233	3882
3659	-1.29	-194.7	343.7	-8.0	642	3665	0.00	0.00	0.00	0.000	6	0.000	0.000	2666	2233	3882
4003	-1.29	-194.7	371.8	-8.9	703	4009	0.00	2.78	0.00	0.000	4	0.000	0.115	2665	3649	3882
4031	-1.29	-194.7	374.8	-10.3	708	4038	0.00	2.67	0.00	0.000	6	0.000	0.094	2665	2226	3882
4376	-1.29	-194.7	407.6	-9.6	769	4381	0.00	0.00	0.00	0.000	6	0.000	0.000	2665	2227	3882
4718	-1.29	-194.7	440.5	-10.1	830	4723	0.00	0.00	0.00	0.000	6	0.000	0.000	2665	2227	3882
5061	-1.29	-194.7	475.3	-9.9	891	5066	0.00	0.00	0.00	0.000	6	0.000	0.000	2665	2227	3882
5403	-1.29	-194.7	508.7	-9.9	952	5409	0.00	0.00	0.00	0.000	6	0.000	0.000	2665	2227	3881
5747	-1.29	-194.7	541.2	-8.9	1013	5752	0.00	0.00	0.00	0.000	6	0.000	0.000	2665	2227	3882
6089	-1.29	-194.7	572.9	-8.8	1074	6094	0.00	0.00	0.00	0.000	6	0.000	0.000	2665	2227	3881
6430	-1.29	-194.7	604.1	-9.3	1131	6434	0.00	2.80	0.00	0.000	4	0.000	0.120	2665	3649	3881
6473	-1.29	-194.7	608.4	-9.6	1134	6479	0.00	2.70	0.00	0.000	6	0.000	0.100	2665	2228	3881
6800	-1.29	-194.7	638.0	-8.8	1165	6801	0.00	0.00	0.00	0.000	6	0.000	0.000	2665	2228	3881
7118	-1.29	-194.7	667.2	-8.9	1195	7122	0.00	2.83	0.00	0.000	4	0.000	0.123	2665	3649	3881
7157	-1.29	-194.7	670.8	-9.4	1198	7161	0.00	2.70	0.00	0.000	6	0.000	0.102	2665	2237	3882
7483	-1.29	-194.7	699.2	-8.6	1228	7484	0.00	0.00	0.00	0.000	6	0.000	0.000	2665	2238	3881
7802	-1.29	-194.7	727.0	-9.3	1258	7803	0.00	0.00	0.00	0.000	6	0.000	0.000	2665	2238	3881
8063	end dive: TARGET_DEPTH_EXCEEDED
state	8063	begin apogee
8069	-0.35	0.0	750.6	9.4	1283	8236	1.02	0.00	160.65	1.256	6	0.101	0.000	2877	2329	3085
8237	end apogee: CONTROL_FINISHED_OK
state	8237	begin climb
8240	1.29	194.7	757.2	0.0	1300	8408	1.62	2.97	158.15	1.221	4	0.061	0.133	3237	919	2291
8442	1.22	194.7	741.0	14.1	1319	8447	0.00	2.80	0.00	0.000	6	0.000	0.110	3237	2331	2290
8769	1.13	194.7	700.2	12.2	1349	8774	0.15	2.88	0.00	0.000	4	0.111	0.126	3206	3743	2289
8813	1.06	194.7	694.7	11.7	1352	8819	0.00	2.78	0.00	0.000	6	0.000	0.104	3206	2322	2288
9139	1.01	194.7	659.8	11.1	1383	9141	0.12	0.00	0.00	0.000	6	0.113	0.000	3183	2322	2288
9457	1.03	204.0	627.5	9.7	1413	9471	0.00	2.90	8.95	1.064	4	0.000	0.119	3184	3744	2253
9512	0.99	204.0	621.7	10.5	1418	9516	0.00	2.75	0.00	0.000	6	0.000	0.102	3183	2334	2253
9841	0.99	204.0	588.6	11.1	1457	9846	0.00	0.00	0.00	0.000	6	0.000	0.000	3184	2334	2252
10183	0.99	204.0	553.8	10.0	1518	10188	0.00	0.00	0.00	0.000	6	0.000	0.000	3184	2334	2252
10525	0.99	204.0	518.6	10.4	1579	10530	0.00	0.00	0.00	0.000	6	0.000	0.000	3183	2334	2252
10867	0.99	204.7	484.0	10.0	1640	10873	0.00	2.78	0.00	0.000	4	0.000	0.114	3184	3742	2252
10890	0.99	204.7	481.6	10.3	1644	10897	0.00	2.70	0.00	0.000	6	0.000	0.097	3184	2328	2252
11235	0.99	204.7	447.4	10.0	1705	11240	0.00	0.00	0.00	0.000	6	0.000	0.000	3184	2329	2252
11577	1.01	222.2	414.4	9.4	1766	11599	0.00	2.83	16.30	1.012	4	0.000	0.114	3183	918	2179
11617	1.02	230.3	410.6	9.7	1773	11634	0.00	2.75	8.43	0.895	6	0.000	0.101	3183	2335	2145
11972	1.02	230.3	374.8	10.0	1836	11977	0.00	0.00	0.00	0.000	6	0.000	0.000	3183	2335	2145
12315	1.02	231.3	340.5	10.0	1897	12320	0.00	0.00	0.00	0.000	6	0.000	0.000	3184	2335	2144
12657	1.03	242.7	306.3	9.6	1958	12674	0.00	0.00	11.60	0.929	6	0.000	0.000	3183	2335	2094
13011	1.03	242.7	269.0	10.7	2021	13017	0.00	2.78	0.00	0.000	4	0.000	0.112	3183	915	2093
13046	1.03	242.7	265.1	10.8	2027	13052	0.00	2.70	0.00	0.000	6	0.000	0.098	3183	2330	2093
13389	1.03	242.7	229.4	10.5	2088	13395	0.00	0.00	0.00	0.000	6	0.000	0.000	3183	2330	2093
13732	1.03	242.7	192.7	10.2	2149	13737	0.00	0.00	0.00	0.000	6	0.000	0.000	3183	2331	2093
14074	1.03	242.7	156.0	11.7	2210	14080	0.00	0.00	0.00	0.000	6	0.000	0.000	3184	2331	2093
14418	1.03	242.7	117.6	10.4	2271	14424	0.00	2.75	0.00	0.000	4	0.000	0.110	3183	911	2093
14447	1.03	242.7	114.2	12.2	2276	14453	0.00	2.67	0.00	0.000	6	0.000	0.094	3183	2333	2094
14591	1.03	242.7	98.8	10.6	2301	14596	0.00	0.00	0.00	0.000	6	0.000	0.000	3183	2333	2093
14732	1.03	242.7	83.0	11.7	2326	14738	0.00	0.00	0.00	0.000	6	0.000	0.000	3183	2333	2093
14874	1.07	274.3	67.3	8.9	2351	14903	0.00	0.00	26.45	0.806	6	0.000	0.000	3183	2333	1965
15041	1.07	274.3	49.5	11.3	2380	15047	0.00	0.00	0.00	0.000	6	0.000	0.000	3183	2333	1962
15182	1.07	274.3	31.3	11.7	2405	15188	0.00	0.00	0.00	0.000	6	0.000	0.000	3183	2333	1962
15324	1.18	364.2	17.6	6.9	2430	15402	0.15	0.00	72.70	0.754	6	0.061	0.000	3226	2333	1599
15440	end climb: SURFACE_DEPTH_REACHED
state	15440	begin surface coast
15456	end surface coast: CONTROL_FINISHED_OK
state	15456	begin surface