Glider dive log

WA coast Apr08 * SG101 * Dive index * Mission links * Dive 43 * 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 43 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 17 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 -691481.75 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 -691481.75

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 17 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 43 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 210326,4732.430,-12653.046,41,1.3,41,18.8 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 -0.210,-0.153

_SM_DEPTHo 1.54 KALMAN_X 13914.6,85.5,-266.7,-106241.5,576.8

_SM_ANGLEo -62.4 KALMAN_Y 10638.6,-251.7,491.6,-76360.8,425.2

GPS2 210856,4732.426,-12653.032,16,1.0,32,18.8 MHEAD_RNG_PITCHd_Wd 215.2,103735,-17.9,-10.000

SPEED_LIMITS 0.165,0.247 D_GRID 1001

Post-dive calculations and measurements:

FINISH 0.9,1.025323 ALTIM_TOP_PING 19.6,19.1

SM_CCo 17558,84.55,0.755,2,0,932,400.08 _24V_AH 23.2,10.011

SM_GC 1.57,0.00,0.00,84.55,0.000,0.000,0.755,23,2575,932,-11.39,-0.71,400.08 _10V_AH 10.1,4.699

IRIDIUM_FIX 4716.56,-12651.56,020797,161621 DATA_FILE_SIZE 28485,581

TT8_MAMPS 0.025311 CAP_FILE_SIZE 128450,0

HUMID 1820 CFSIZE 260165632,255942656

INTERNAL_PRESSURE 8.85776 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,2,0

TCM_TEMP 19.10 GPS 080408,020531,4731.359,-12655.856,38,1.8,38,18.8

XPDR_PINGS 1

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 28 159 104.28 SBE_CT 411 24 229.36

Roll_motor 163 98 372.06 SBE_O2 465 19 205.02

VBD_pump_during_apogee 371 1466 12644.61 WL_BB2F 646 105 1575.32

VBD_pump_during_surface 84 754 1480.44 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 31 103 74.80 nil 0 0 0.00

Iridium_during_connect 28 160 106.35 nil 0 0 0.00

Iridium_during_xfer 124 223 646.11

Transponder_ping 9 420 90.13

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 32 50 16.18

TT8 1303 19 260.61

LPSleep 13372 2 295.79

TT8_Active 618 19 123.62

TT8_Sampling 2126 39 854.89

TT8_CF8 572 45 264.64

TT8_Kalman 33 81 27.57

Analog_circuits 1649 12 199.87

GPS_charging 0 0 0.00

Compass 2055 8 166.12

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 90 0.00 0.00 -60.10 0.000 2 0.000 0.000 31 2602 2145

95 -1.81 -146.6 3.2 -4.5 6 149 11.52 2.00 -33.45 0.000 4 0.160 0.097 2096 3630 3162

330 -1.81 -146.6 44.7 -19.9 29 337 0.00 1.88 0.00 0.000 6 0.000 0.046 2096 2576 3162

667 -1.81 -146.6 107.1 -17.6 76 672 0.00 2.45 0.00 0.000 4 0.000 0.051 2096 1202 3162

697 -1.81 -146.6 111.8 -16.0 78 701 0.00 2.50 0.00 0.000 6 0.000 0.044 2096 2603 3162

1034 -1.81 -146.6 163.0 -15.3 105 1035 0.00 0.00 0.00 0.000 6 0.000 0.000 2096 2603 3161

1340 -1.81 -146.6 210.7 -15.3 120 1345 0.00 2.53 0.00 0.000 4 0.000 0.051 2096 1196 3162

1397 -1.81 -146.6 219.4 -15.2 122 1403 0.00 2.50 0.00 0.000 6 0.000 0.046 2096 2606 3162

1713 -1.81 -146.6 265.8 -14.5 138 1714 0.00 0.00 0.00 0.000 6 0.000 0.000 2096 2606 3162

2041 -1.81 -146.6 310.4 -13.1 152 2046 0.00 2.53 0.00 0.000 4 0.000 0.054 2096 1207 3162

2109 -1.81 -146.6 319.6 -12.9 153 2113 0.00 2.50 0.00 0.000 6 0.000 0.051 2096 2601 3162

2469 -1.81 -146.6 368.3 -13.7 159 2470 0.00 0.00 0.00 0.000 6 0.000 0.000 2096 2601 3162

2772 -1.81 -146.6 409.6 -13.6 164 2776 0.00 2.60 0.00 0.000 4 0.000 0.069 2096 1199 3161

2816 -1.81 -146.6 415.7 -13.6 164 2821 0.00 2.58 0.00 0.000 6 0.000 0.064 2096 2600 3161

3133 -1.81 -146.6 457.6 -13.3 170 3134 0.00 0.00 0.00 0.000 6 0.000 0.000 2096 2600 3161

3437 -1.81 -146.6 495.9 -12.6 175 3441 0.00 2.70 0.00 0.000 4 0.000 0.094 2096 1211 3161

3471 -1.81 -146.6 500.5 -13.3 175 3475 0.00 2.67 0.00 0.000 6 0.000 0.087 2096 2596 3161

3797 -1.81 -146.6 542.7 -12.9 181 3801 0.00 2.70 0.00 0.000 4 0.000 0.094 2096 1209 3160

3870 -1.81 -146.6 552.2 -12.7 182 3874 0.00 2.70 0.00 0.000 6 0.000 0.088 2096 2602 3160

4224 -1.81 -146.6 596.5 -12.5 188 4225 0.00 0.00 0.00 0.000 6 0.000 0.000 2096 2603 3159

4527 -1.81 -146.6 633.0 -11.9 193 4532 0.00 2.70 0.00 0.000 4 0.000 0.090 2096 1205 3159

4589 -1.81 -146.6 640.2 -11.9 194 4594 0.00 2.70 0.00 0.000 6 0.000 0.085 2096 2605 3158

4955 -1.81 -146.6 683.0 -11.8 200 4960 0.00 2.70 0.00 0.000 4 0.000 0.089 2096 1204 3158

5005 -1.81 -146.6 689.4 -11.8 200 5010 0.00 2.67 0.00 0.000 6 0.000 0.084 2096 2601 3158

5316 -1.81 -146.6 727.3 -12.3 205 5317 0.00 0.00 0.00 0.000 6 0.000 0.000 2096 2601 3157

5618 -1.81 -146.6 763.3 -11.8 210 5623 0.00 2.67 0.00 0.000 4 0.000 0.087 2096 1210 3157

5697 -1.81 -146.6 773.0 -12.5 211 5701 0.00 2.67 0.00 0.000 6 0.000 0.084 2096 2602 3157

6046 -1.81 -146.6 814.2 -11.8 217 6047 0.00 0.00 0.00 0.000 6 0.000 0.000 2096 2602 3157

6349 -1.81 -146.6 848.7 -11.3 222 6353 0.00 2.67 0.00 0.000 4 0.000 0.087 2096 1208 3156

6411 -1.81 -146.6 855.7 -11.0 223 6416 0.00 2.67 0.00 0.000 6 0.000 0.084 2096 2601 3156

6777 -1.81 -146.6 894.1 -10.2 229 6782 0.00 2.67 0.00 0.000 4 0.000 0.086 2096 1207 3156

6817 -1.81 -146.6 898.2 -10.3 229 6821 0.00 2.67 0.00 0.000 6 0.000 0.082 2096 2608 3156

7138 -1.81 -146.6 930.5 -10.1 235 7143 0.00 2.67 0.00 0.000 4 0.000 0.085 2096 1210 3156

7178 -1.81 -146.6 934.8 -10.4 235 7182 0.00 2.67 0.00 0.000 6 0.000 0.084 2096 2607 3156

7499 -1.81 -146.6 966.6 -9.9 241 7500 0.00 0.00 0.00 0.000 6 0.000 0.000 2096 2606 3156

7738 end dive: TARGET_DEPTH_EXCEEDED

state 7738 begin apogee

7747 -0.45 0.0 991.2 10.1 245 7877 1.42 0.00 126.20 1.467 6 0.078 0.000 2397 2216 2564

7877 end apogee: CONTROL_FINISHED_OK

state 7877 begin climb

7881 1.81 146.6 995.1 0.0 247 8016 2.28 2.90 126.70 1.433 4 0.048 0.098 2900 784 1965

8168 1.81 146.6 977.3 11.8 251 8175 0.00 2.72 0.00 0.000 6 0.000 0.075 2899 2206 1965

8478 1.81 146.6 942.7 11.1 257 8483 0.00 2.80 0.00 0.000 4 0.000 0.094 2900 789 1965

8680 1.81 146.6 920.2 10.9 260 8685 0.00 2.70 0.00 0.000 6 0.000 0.075 2899 2205 1965

9040 1.81 146.6 881.8 10.7 266 9044 0.00 2.80 0.00 0.000 4 0.000 0.093 2899 785 1964

9280 1.81 146.6 855.0 11.6 269 9285 0.00 2.70 0.00 0.000 6 0.000 0.074 2900 2203 1964

9601 1.81 146.6 820.9 10.8 275 9605 0.00 2.78 0.00 0.000 4 0.000 0.091 2899 788 1964

9794 1.81 146.6 800.1 11.3 277 9800 0.00 2.70 0.00 0.000 6 0.000 0.074 2900 2207 1964

10104 1.81 146.6 768.5 10.1 283 10109 0.00 2.78 0.00 0.000 4 0.000 0.092 2900 788 1964

10216 1.81 146.6 757.2 10.1 284 10220 0.00 2.67 0.00 0.000 6 0.000 0.074 2900 2201 1963

10531 1.82 152.7 726.3 9.7 290 10545 0.00 2.85 6.50 1.074 4 0.000 0.091 2900 791 1941

10776 1.82 155.1 701.9 9.9 293 10786 0.00 2.67 4.07 0.848 6 0.000 0.074 2900 2202 1931

11103 1.83 163.1 670.6 9.6 299 11117 0.00 2.85 8.27 1.108 4 0.000 0.091 2900 791 1899

11309 1.83 163.1 648.5 10.6 302 11314 0.00 2.67 0.00 0.000 6 0.000 0.072 2900 2202 1899

11669 1.83 163.1 610.3 10.6 308 11674 0.00 2.75 0.00 0.000 4 0.000 0.091 2900 791 1899

11815 1.83 163.1 594.4 11.1 310 11819 0.00 2.65 0.00 0.000 6 0.000 0.072 2900 2201 1899

12163 1.83 163.1 556.9 10.8 316 12168 0.00 2.75 0.00 0.000 4 0.000 0.090 2900 786 1899

12382 1.83 163.1 531.5 11.2 319 12386 0.00 2.65 0.00 0.000 6 0.000 0.068 2900 2202 1899

12725 1.83 163.1 493.5 11.0 325 12729 0.00 2.72 0.00 0.000 4 0.000 0.084 2900 784 1899

12983 1.83 163.1 464.2 11.1 328 12989 0.00 2.60 0.00 0.000 6 0.000 0.061 2900 2203 1899

13292 1.83 163.1 431.8 10.5 334 13294 0.00 0.00 0.00 0.000 6 0.000 0.000 2900 2203 1899

13596 1.84 170.1 402.4 9.7 339 13610 0.00 2.72 8.02 0.965 4 0.000 0.071 2900 789 1870

13760 1.84 170.1 385.6 10.4 341 13764 0.00 2.58 0.00 0.000 6 0.000 0.051 2900 2211 1870

14098 1.86 183.0 352.8 9.4 347 14117 0.00 2.78 12.05 0.994 4 0.000 0.084 2900 3609 1818

14208 1.86 183.0 340.6 10.6 348 14213 0.00 2.55 0.00 0.000 6 0.000 0.048 2899 2184 1818

14530 1.86 183.0 307.1 10.2 354 14531 0.00 0.00 0.00 0.000 6 0.000 0.000 2900 2182 1817

14838 1.86 183.0 274.5 10.4 365 14843 0.00 2.70 0.00 0.000 4 0.000 0.077 2899 3608 1817

14970 1.86 183.2 260.8 10.0 371 14974 0.00 2.50 0.00 0.000 6 0.000 0.047 2900 2200 1817

15297 1.86 183.2 228.4 10.4 387 15302 0.00 2.60 0.00 0.000 4 0.000 0.070 2900 792 1817

15464 1.86 184.9 211.3 9.9 394 15468 0.00 2.50 0.00 0.000 6 0.000 0.046 2899 2203 1817

15781 1.88 201.0 180.0 9.2 409 15803 0.00 2.65 16.45 0.907 4 0.000 0.065 2900 798 1744

16057 1.88 201.0 153.4 10.2 421 16061 0.00 2.50 0.00 0.000 6 0.000 0.044 2900 2201 1744

16389 1.88 201.0 122.3 10.7 450 16394 0.00 2.58 0.00 0.000 4 0.000 0.061 2900 800 1744

16446 1.88 201.0 116.0 11.1 454 16452 0.00 2.50 0.00 0.000 6 0.000 0.044 2899 2211 1744

16776 1.97 279.1 91.8 6.3 485 16850 0.12 2.75 63.38 0.852 4 0.068 0.077 2929 3605 1426

17106 1.97 279.1 52.8 12.2 533 17112 0.00 2.50 0.00 0.000 6 0.000 0.044 2929 2194 1426

17444 1.97 279.1 13.1 13.0 574 17448 0.00 2.65 0.00 0.000 4 0.000 0.071 2929 3598 1426

17519 end climb: SURFACE_DEPTH_REACHED

state 17519 begin surface coast

17531 end surface coast: CONTROL_FINISHED_OK

state 17531 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	43	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	17	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	-691481.75	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	210326,4732.430,-12653.046,41,1.3,41,18.8	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	-0.210,-0.153
_SM_DEPTHo	1.54	KALMAN_X	13914.6,85.5,-266.7,-106241.5,576.8
_SM_ANGLEo	-62.4	KALMAN_Y	10638.6,-251.7,491.6,-76360.8,425.2
GPS2	210856,4732.426,-12653.032,16,1.0,32,18.8	MHEAD_RNG_PITCHd_Wd	215.2,103735,-17.9,-10.000
SPEED_LIMITS	0.165,0.247	D_GRID	1001

FINISH	0.9,1.025323	ALTIM_TOP_PING	19.6,19.1
SM_CCo	17558,84.55,0.755,2,0,932,400.08	_24V_AH	23.2,10.011
SM_GC	1.57,0.00,0.00,84.55,0.000,0.000,0.755,23,2575,932,-11.39,-0.71,400.08	_10V_AH	10.1,4.699
IRIDIUM_FIX	4716.56,-12651.56,020797,161621	DATA_FILE_SIZE	28485,581
TT8_MAMPS	0.025311	CAP_FILE_SIZE	128450,0
HUMID	1820	CFSIZE	260165632,255942656
INTERNAL_PRESSURE	8.85776	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
TCM_TEMP	19.10	GPS	080408,020531,4731.359,-12655.856,38,1.8,38,18.8
XPDR_PINGS	1

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	28	159	104.28	SBE_CT	411	24	229.36
Roll_motor	163	98	372.06	SBE_O2	465	19	205.02
VBD_pump_during_apogee	371	1466	12644.61	WL_BB2F	646	105	1575.32
VBD_pump_during_surface	84	754	1480.44	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	31	103	74.80	nil	0	0	0.00
Iridium_during_connect	28	160	106.35	nil	0	0	0.00
Iridium_during_xfer	124	223	646.11
Transponder_ping	9	420	90.13
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	32	50	16.18
TT8	1303	19	260.61
LPSleep	13372	2	295.79
TT8_Active	618	19	123.62
TT8_Sampling	2126	39	854.89
TT8_CF8	572	45	264.64
TT8_Kalman	33	81	27.57
Analog_circuits	1649	12	199.87
GPS_charging	0	0	0.00
Compass	2055	8	166.12
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	90	0.00	0.00	-60.10	0.000	2	0.000	0.000	31	2602	2145
95	-1.81	-146.6	3.2	-4.5	6	149	11.52	2.00	-33.45	0.000	4	0.160	0.097	2096	3630	3162
330	-1.81	-146.6	44.7	-19.9	29	337	0.00	1.88	0.00	0.000	6	0.000	0.046	2096	2576	3162
667	-1.81	-146.6	107.1	-17.6	76	672	0.00	2.45	0.00	0.000	4	0.000	0.051	2096	1202	3162
697	-1.81	-146.6	111.8	-16.0	78	701	0.00	2.50	0.00	0.000	6	0.000	0.044	2096	2603	3162
1034	-1.81	-146.6	163.0	-15.3	105	1035	0.00	0.00	0.00	0.000	6	0.000	0.000	2096	2603	3161
1340	-1.81	-146.6	210.7	-15.3	120	1345	0.00	2.53	0.00	0.000	4	0.000	0.051	2096	1196	3162
1397	-1.81	-146.6	219.4	-15.2	122	1403	0.00	2.50	0.00	0.000	6	0.000	0.046	2096	2606	3162
1713	-1.81	-146.6	265.8	-14.5	138	1714	0.00	0.00	0.00	0.000	6	0.000	0.000	2096	2606	3162
2041	-1.81	-146.6	310.4	-13.1	152	2046	0.00	2.53	0.00	0.000	4	0.000	0.054	2096	1207	3162
2109	-1.81	-146.6	319.6	-12.9	153	2113	0.00	2.50	0.00	0.000	6	0.000	0.051	2096	2601	3162
2469	-1.81	-146.6	368.3	-13.7	159	2470	0.00	0.00	0.00	0.000	6	0.000	0.000	2096	2601	3162
2772	-1.81	-146.6	409.6	-13.6	164	2776	0.00	2.60	0.00	0.000	4	0.000	0.069	2096	1199	3161
2816	-1.81	-146.6	415.7	-13.6	164	2821	0.00	2.58	0.00	0.000	6	0.000	0.064	2096	2600	3161
3133	-1.81	-146.6	457.6	-13.3	170	3134	0.00	0.00	0.00	0.000	6	0.000	0.000	2096	2600	3161
3437	-1.81	-146.6	495.9	-12.6	175	3441	0.00	2.70	0.00	0.000	4	0.000	0.094	2096	1211	3161
3471	-1.81	-146.6	500.5	-13.3	175	3475	0.00	2.67	0.00	0.000	6	0.000	0.087	2096	2596	3161
3797	-1.81	-146.6	542.7	-12.9	181	3801	0.00	2.70	0.00	0.000	4	0.000	0.094	2096	1209	3160
3870	-1.81	-146.6	552.2	-12.7	182	3874	0.00	2.70	0.00	0.000	6	0.000	0.088	2096	2602	3160
4224	-1.81	-146.6	596.5	-12.5	188	4225	0.00	0.00	0.00	0.000	6	0.000	0.000	2096	2603	3159
4527	-1.81	-146.6	633.0	-11.9	193	4532	0.00	2.70	0.00	0.000	4	0.000	0.090	2096	1205	3159
4589	-1.81	-146.6	640.2	-11.9	194	4594	0.00	2.70	0.00	0.000	6	0.000	0.085	2096	2605	3158
4955	-1.81	-146.6	683.0	-11.8	200	4960	0.00	2.70	0.00	0.000	4	0.000	0.089	2096	1204	3158
5005	-1.81	-146.6	689.4	-11.8	200	5010	0.00	2.67	0.00	0.000	6	0.000	0.084	2096	2601	3158
5316	-1.81	-146.6	727.3	-12.3	205	5317	0.00	0.00	0.00	0.000	6	0.000	0.000	2096	2601	3157
5618	-1.81	-146.6	763.3	-11.8	210	5623	0.00	2.67	0.00	0.000	4	0.000	0.087	2096	1210	3157
5697	-1.81	-146.6	773.0	-12.5	211	5701	0.00	2.67	0.00	0.000	6	0.000	0.084	2096	2602	3157
6046	-1.81	-146.6	814.2	-11.8	217	6047	0.00	0.00	0.00	0.000	6	0.000	0.000	2096	2602	3157
6349	-1.81	-146.6	848.7	-11.3	222	6353	0.00	2.67	0.00	0.000	4	0.000	0.087	2096	1208	3156
6411	-1.81	-146.6	855.7	-11.0	223	6416	0.00	2.67	0.00	0.000	6	0.000	0.084	2096	2601	3156
6777	-1.81	-146.6	894.1	-10.2	229	6782	0.00	2.67	0.00	0.000	4	0.000	0.086	2096	1207	3156
6817	-1.81	-146.6	898.2	-10.3	229	6821	0.00	2.67	0.00	0.000	6	0.000	0.082	2096	2608	3156
7138	-1.81	-146.6	930.5	-10.1	235	7143	0.00	2.67	0.00	0.000	4	0.000	0.085	2096	1210	3156
7178	-1.81	-146.6	934.8	-10.4	235	7182	0.00	2.67	0.00	0.000	6	0.000	0.084	2096	2607	3156
7499	-1.81	-146.6	966.6	-9.9	241	7500	0.00	0.00	0.00	0.000	6	0.000	0.000	2096	2606	3156
7738	end dive: TARGET_DEPTH_EXCEEDED
state	7738	begin apogee
7747	-0.45	0.0	991.2	10.1	245	7877	1.42	0.00	126.20	1.467	6	0.078	0.000	2397	2216	2564
7877	end apogee: CONTROL_FINISHED_OK
state	7877	begin climb
7881	1.81	146.6	995.1	0.0	247	8016	2.28	2.90	126.70	1.433	4	0.048	0.098	2900	784	1965
8168	1.81	146.6	977.3	11.8	251	8175	0.00	2.72	0.00	0.000	6	0.000	0.075	2899	2206	1965
8478	1.81	146.6	942.7	11.1	257	8483	0.00	2.80	0.00	0.000	4	0.000	0.094	2900	789	1965
8680	1.81	146.6	920.2	10.9	260	8685	0.00	2.70	0.00	0.000	6	0.000	0.075	2899	2205	1965
9040	1.81	146.6	881.8	10.7	266	9044	0.00	2.80	0.00	0.000	4	0.000	0.093	2899	785	1964
9280	1.81	146.6	855.0	11.6	269	9285	0.00	2.70	0.00	0.000	6	0.000	0.074	2900	2203	1964
9601	1.81	146.6	820.9	10.8	275	9605	0.00	2.78	0.00	0.000	4	0.000	0.091	2899	788	1964
9794	1.81	146.6	800.1	11.3	277	9800	0.00	2.70	0.00	0.000	6	0.000	0.074	2900	2207	1964
10104	1.81	146.6	768.5	10.1	283	10109	0.00	2.78	0.00	0.000	4	0.000	0.092	2900	788	1964
10216	1.81	146.6	757.2	10.1	284	10220	0.00	2.67	0.00	0.000	6	0.000	0.074	2900	2201	1963
10531	1.82	152.7	726.3	9.7	290	10545	0.00	2.85	6.50	1.074	4	0.000	0.091	2900	791	1941
10776	1.82	155.1	701.9	9.9	293	10786	0.00	2.67	4.07	0.848	6	0.000	0.074	2900	2202	1931
11103	1.83	163.1	670.6	9.6	299	11117	0.00	2.85	8.27	1.108	4	0.000	0.091	2900	791	1899
11309	1.83	163.1	648.5	10.6	302	11314	0.00	2.67	0.00	0.000	6	0.000	0.072	2900	2202	1899
11669	1.83	163.1	610.3	10.6	308	11674	0.00	2.75	0.00	0.000	4	0.000	0.091	2900	791	1899
11815	1.83	163.1	594.4	11.1	310	11819	0.00	2.65	0.00	0.000	6	0.000	0.072	2900	2201	1899
12163	1.83	163.1	556.9	10.8	316	12168	0.00	2.75	0.00	0.000	4	0.000	0.090	2900	786	1899
12382	1.83	163.1	531.5	11.2	319	12386	0.00	2.65	0.00	0.000	6	0.000	0.068	2900	2202	1899
12725	1.83	163.1	493.5	11.0	325	12729	0.00	2.72	0.00	0.000	4	0.000	0.084	2900	784	1899
12983	1.83	163.1	464.2	11.1	328	12989	0.00	2.60	0.00	0.000	6	0.000	0.061	2900	2203	1899
13292	1.83	163.1	431.8	10.5	334	13294	0.00	0.00	0.00	0.000	6	0.000	0.000	2900	2203	1899
13596	1.84	170.1	402.4	9.7	339	13610	0.00	2.72	8.02	0.965	4	0.000	0.071	2900	789	1870
13760	1.84	170.1	385.6	10.4	341	13764	0.00	2.58	0.00	0.000	6	0.000	0.051	2900	2211	1870
14098	1.86	183.0	352.8	9.4	347	14117	0.00	2.78	12.05	0.994	4	0.000	0.084	2900	3609	1818
14208	1.86	183.0	340.6	10.6	348	14213	0.00	2.55	0.00	0.000	6	0.000	0.048	2899	2184	1818
14530	1.86	183.0	307.1	10.2	354	14531	0.00	0.00	0.00	0.000	6	0.000	0.000	2900	2182	1817
14838	1.86	183.0	274.5	10.4	365	14843	0.00	2.70	0.00	0.000	4	0.000	0.077	2899	3608	1817
14970	1.86	183.2	260.8	10.0	371	14974	0.00	2.50	0.00	0.000	6	0.000	0.047	2900	2200	1817
15297	1.86	183.2	228.4	10.4	387	15302	0.00	2.60	0.00	0.000	4	0.000	0.070	2900	792	1817
15464	1.86	184.9	211.3	9.9	394	15468	0.00	2.50	0.00	0.000	6	0.000	0.046	2899	2203	1817
15781	1.88	201.0	180.0	9.2	409	15803	0.00	2.65	16.45	0.907	4	0.000	0.065	2900	798	1744
16057	1.88	201.0	153.4	10.2	421	16061	0.00	2.50	0.00	0.000	6	0.000	0.044	2900	2201	1744
16389	1.88	201.0	122.3	10.7	450	16394	0.00	2.58	0.00	0.000	4	0.000	0.061	2900	800	1744
16446	1.88	201.0	116.0	11.1	454	16452	0.00	2.50	0.00	0.000	6	0.000	0.044	2899	2211	1744
16776	1.97	279.1	91.8	6.3	485	16850	0.12	2.75	63.38	0.852	4	0.068	0.077	2929	3605	1426
17106	1.97	279.1	52.8	12.2	533	17112	0.00	2.50	0.00	0.000	6	0.000	0.044	2929	2194	1426
17444	1.97	279.1	13.1	13.0	574	17448	0.00	2.65	0.00	0.000	4	0.000	0.071	2929	3598	1426
17519	end climb: SURFACE_DEPTH_REACHED
state	17519	begin surface coast
17531	end surface coast: CONTROL_FINISHED_OK
state	17531	begin surface