Glider dive log

NAB Apr08 * SG143 * Dive index * Mission links * Dive 94 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 143 HD_C 9.8541004e-06 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0

MISSION 4 HEADING 335 PITCH_ADJ_GAIN 0.02 ALTIM_BOTTOM_TURN_MARGIN 0

DIVE 94 ESCAPE_HEADING 0 PITCH_ADJ_DBAND 2 ALTIM_TOP_TURN_MARGIN 0

D_SURF 2 ESCAPE_HEADING_DELTA 10 ROLL_MIN 182 ALTIM_TOP_MIN_OBSTACLE 0

D_FLARE 3 FIX_MISSING_TIMEOUT 0 ROLL_MAX 3816 ALTIM_PING_DEPTH 0

D_TGT 990 TGT_DEFAULT_LAT -2030 ROLL_DEG 40 ALTIM_PING_DELTA 0

D_ABORT 1040 TGT_DEFAULT_LON 5900 C_ROLL_DIVE 2295 ALTIM_FREQUENCY 13

D_NO_BLEED 350 TGT_AUTO_DEFAULT 0 C_ROLL_CLIMB 2050 ALTIM_PULSE 3

D_FINISH 0 SM_CC 633.11926 HEAD_ERRBAND 15 ALTIM_SENSITIVITY 3

D_PITCH 0 N_FILEKB 8 ROLL_CNV 0.028270001 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 FILEMGR 0 ROLL_TIMEOUT 15 INT_PRESSURE_YINT 0

D_CALL 0 CALL_NDIVES 1 R_PORT_OVSHOOT 15 DEEPGLIDER 0

SURFACE_URGENCY 0 COMM_SEQ 0 R_STBD_OVSHOOT 27 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 KERMIT 0 ROLL_AD_RATE 250 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 N_NOCOMM 1 ROLL_MAXERRORS 1 DEVICE1 2

T_DIVE 330 N_NOSURFACE 0 ROLL_ADJ_GAIN 3 DEVICE2 20

T_MISSION 360 UPLOAD_DIVES_MAX -1 ROLL_ADJ_DBAND 0.029999999 DEVICE3 53

T_ABORT 720 CALL_TRIES 5 VBD_MIN 490 DEVICE4 35

T_TURN 270 CALL_WAIT 60 VBD_MAX 3964 DEVICE5 87

T_TURN_SAMPINT 5 CAPUPLOAD 0 C_VBD 3071 DEVICE6 -1

T_NO_W 120 CAPMAXSIZE 100000 VBD_DBAND 2 SMARTS 0

USE_BATHY 0 HEAPDBG 0 VBD_CNV -0.24529999 SMARTDEVICE1 -1

USE_ICE 0 T_GPS 15 VBD_TIMEOUT 720 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.30000001 N_GPS 20 PITCH_VBD_SHIFT 0.0012300001 COMPASS_DEVICE 33

D_OFFGRID 100 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_SURFACE 4 PHONE_DEVICE 48

T_WATCHDOG 10 T_GPS_CHARGE -5857.7529 VBD_PUMP_AD_RATE_APOGEE 3 GPS_DEVICE 32

RELAUNCH 1 T_RSLEEP 3 VBD_BLEED_AD_RATE 8 RAFOS_DEVICE -1

APOGEE_PITCH -5 RAFOS_PEAK_OFFSET 1.5 UNCOM_BLEED 20 XPDR_DEVICE 24

MAX_BUOY 200 RAFOS_CORR_THRESH 60 VBD_MAXERRORS 1 SIM_W 0

COURSE_BIAS 0 RAFOS_HIT_WINDOW 3600 CF8_MAXERRORS 20 SIM_PITCH 0

GLIDE_SLOPE 30 PITCH_MIN 1469 AH0_24V 150 SEABIRD_T_G 0.0043273759

SPEED_FACTOR 1 PITCH_MAX 4022 AH0_10V 100 SEABIRD_T_H 0.00064184016

RHO 1.0273 C_PITCH 2800 PRESSURE_YINT -13.47135 SEABIRD_T_I 2.4188148e-05

MASS 51457 PITCH_DBAND 0.1 PRESSURE_SLOPE 9.1530041e-05 SEABIRD_T_J 2.4070987e-06

NAV_MODE 0 PITCH_CNV 0.0046000001 AD7714Ch0Gain 64 SEABIRD_C_G -10.197048

FERRY_MAX 45 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1695373

KALMAN_USE 2 PITCH_GAIN 27 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0015330453

HD_A 0.0038360001 PITCH_TIMEOUT 15 COMPASS_USE 0 SEABIRD_C_J 0.00015523176

HD_B 0.010078 PITCH_AD_RATE 100 ALTIM_BOTTOM_PING_RANGE 0

AD7714Ch0Gain 64 D_FINISH 0 PITCH_AD_RATE 100 SMARTDEVICE1 -1

AH0_10V 100 D_FLARE 3 PITCH_CNV 0.0046000001 SMARTDEVICE2 -1

AH0_24V 150 D_NO_BLEED 350 PITCH_DBAND 0.1 SMARTS 0

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 100 PITCH_GAIN 27 SM_CC 633.11926

ALTIM_BOTTOM_TURN_MARGIN 0 D_PITCH 0 PITCH_MAX 4022 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 0 D_SURF 2 PITCH_MIN 1469 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 0 D_TGT 990 PITCH_TIMEOUT 15 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 3 ESCAPE_HEADING 0 PITCH_VBD_SHIFT 0.0012300001 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 3 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 9.1530041e-05 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 0 FERRY_MAX 45 PRESSURE_YINT -13.47135 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LAT -2030

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 RAFOS_CORR_THRESH 60 TGT_DEFAULT_LON 5900

APOGEE_PITCH -5 GLIDE_SLOPE 30 RAFOS_DEVICE -1 T_ABORT 720

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_DIVE 330

CALL_TRIES 5 HD_A 0.0038360001 RAFOS_PEAK_OFFSET 1.5 T_GPS 15

CALL_WAIT 60 HD_B 0.010078 RELAUNCH 1 T_GPS_ALMANAC 0

CAPMAXSIZE 100000 HD_C 9.8541004e-06 RHO 1.0273 T_GPS_CHARGE -5857.7529

CAPUPLOAD 0 HEADING 335 ROLL_ADJ_DBAND 0.029999999 T_MISSION 360

CF8_MAXERRORS 20 HEAD_ERRBAND 15 ROLL_ADJ_GAIN 3 T_NO_W 120

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 250 T_RSLEEP 3

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN 270

COMPASS_USE 0 ID 143 ROLL_DEG 40 T_TURN_SAMPINT 5

COURSE_BIAS 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3816 T_WATCHDOG 10

C_PITCH 2800 INT_PRESSURE_YINT 0 ROLL_MAXERRORS 1 UNCOM_BLEED 20

C_ROLL_CLIMB 2050 KALMAN_USE 2 ROLL_MIN 182 UPLOAD_DIVES_MAX -1

C_ROLL_DIVE 2295 KERMIT 0 ROLL_TIMEOUT 15 USE_BATHY 0

C_VBD 3071 MASS 51457 R_PORT_OVSHOOT 15 USE_ICE 0

DEEPGLIDER 0 MAX_BUOY 200 R_STBD_OVSHOOT 27 VBD_BLEED_AD_RATE 8

DEEPGLIDERMB 0 MISSION 4 SEABIRD_C_G -10.197048 VBD_CNV -0.24529999

DEVICE1 2 MOTHERBOARD 4 SEABIRD_C_H 1.1695373 VBD_DBAND 2

DEVICE2 20 NAV_MODE 0 SEABIRD_C_I -0.0015330453 VBD_MAX 3964

DEVICE3 53 N_FILEKB 8 SEABIRD_C_J 0.00015523176 VBD_MAXERRORS 1

DEVICE4 35 N_GPS 20 SEABIRD_T_G 0.0043273759 VBD_MIN 490

DEVICE5 87 N_NOCOMM 1 SEABIRD_T_H 0.00064184016 VBD_PUMP_AD_RATE_APOGEE 3

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.4188148e-05 VBD_PUMP_AD_RATE_SURFACE 4

DIVE 94 PHONE_DEVICE 48 SEABIRD_T_J 2.4070987e-06 VBD_TIMEOUT 720

D_ABORT 1040 PITCH_ADJ_DBAND 2 SIM_PITCH 0 XPDR_DEVICE 24

D_CALL 0 PITCH_ADJ_GAIN 0.02 SIM_W 0

Pre-dive calculations and measurements:

GPS1 235102,6054.719,-2225.315,76,1.1,76,-16.2 TGT_NAME HEADING

_CALLS 5 TGT_LATLONG 6104.651,-2228.061

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 0.41 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -38.9 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 001605,6054.863,-2225.854,11,99.0,30,-16.2 MHEAD_RNG_PITCHd_Wd 351.2,20000,-15.7,-10.000

SPEED_LIMITS 0.173,0.296 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.0,1.027349 XPDR_PINGS 185

SM_CCo 16601,114.00,0.746,1,0,489,633.12 _24V_AH 19.6,37.780

SM_GC 0.35,0.00,0.00,114.00,0.000,0.000,0.746,1468,2312,489,-6.13,0.48,633.12 _10V_AH 9.7,27.428

IRIDIUM_FIX 6032.86,-2228.34,180797,000036 DATA_FILE_SIZE 170862,2341

TT8_MAMPS 0.022243 CAP_FILE_SIZE 197931,0

HUMID 1629 CFSIZE 260165632,247128064

INTERNAL_PRESSURE 8.08625 ERRORS 0,0,0,0,0,0,0,0,0,0,0,3,0,1,0

TCM_TEMP 12.50 GPS 230408,045608,6057.564,-2226.734,29,1.1,29,-16.2

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 21 259 110.14 SBE_CT 1714 24 806.65

Roll_motor 121 73 175.89 SBE_O2 1665 19 620.34

VBD_pump_during_apogee 742 1460 21249.87 Optode 802 33 519.02

VBD_pump_during_surface 114 745 1665.80 WL_BB2F 938 105 1931.85

VBD_valve 0 0 0.00 WL_BBFL2VMT 1640 105 3376.03

Iridium_during_init 146 103 295.74 nil 0 0 0.00

Iridium_during_connect 198 160 622.48 nil 0 0 0.00

Iridium_during_xfer 730 223 3193.17

Transponder_ping 46 420 380.73

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 33 50 16.07

TT8 3526 19 677.31

LPSleep 7638 2 162.26

TT8_Active 907 19 174.35

TT8_Sampling 4750 39 1834.05

TT8_CF8 1375 45 611.20

TT8_Kalman 0 0 0.00

Analog_circuits 2774 12 322.90

GPS_charging 0 0 0.00

Compass 4730 8 367.09

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 -0.82 -194.7 0.0 0.0 0 138 0.00 0.00 -109.05 0.000 2 0.000 0.000 1464 2311 3524

140 -0.82 -194.7 3.0 -7.2 15 164 10.23 2.85 -7.80 0.000 4 0.259 0.062 2609 3702 3869

301 -0.71 -194.7 34.4 -16.1 44 310 0.17 2.78 0.00 0.000 6 0.146 0.040 2638 2289 3870

438 -0.65 -194.7 51.7 -11.0 69 443 0.00 0.00 0.00 0.000 6 0.000 0.000 2638 2286 3870

638 -0.60 -194.7 85.4 -16.7 106 646 0.15 0.00 0.00 0.000 6 0.140 0.000 2663 2285 3870

844 -0.60 -194.7 112.2 -13.0 143 850 0.00 2.75 0.00 0.000 4 0.000 0.054 2663 884 3870

890 -0.66 -194.7 118.0 -11.4 151 896 0.00 2.72 0.00 0.000 6 0.000 0.044 2664 2289 3870

1088 -0.66 -194.7 141.2 -11.1 188 1097 0.00 2.85 0.00 0.000 4 0.000 0.056 2663 3708 3870

1132 -0.66 -194.7 146.2 -12.3 195 1139 0.00 2.75 0.00 0.000 6 0.000 0.040 2663 2281 3870

1337 -0.66 -194.7 171.0 -12.2 232 1345 0.00 2.75 0.00 0.000 4 0.000 0.054 2663 890 3870

1380 -0.72 -194.7 175.9 -11.9 239 1386 0.00 2.72 0.00 0.000 6 0.000 0.044 2665 2298 3870

1720 -0.72 -194.7 215.6 -11.8 300 1727 0.00 0.00 0.00 0.000 6 0.000 0.000 2665 2298 3870

2062 -0.72 -194.7 254.9 -11.6 361 2067 0.00 0.00 0.00 0.000 6 0.000 0.000 2664 2298 3870

2400 -0.72 -194.7 294.5 -11.9 422 2406 0.00 0.00 0.00 0.000 6 0.000 0.000 2665 2298 3870

2739 -0.72 -194.7 334.4 -11.9 483 2745 0.00 0.00 0.00 0.000 6 0.000 0.000 2664 2298 3870

3079 -0.72 -194.7 374.4 -11.5 544 3087 0.00 0.00 0.00 0.000 6 0.000 0.000 2664 2298 3870

3420 -0.72 -194.7 414.0 -12.0 605 3426 0.00 0.00 0.00 0.000 6 0.000 0.000 2664 2298 3870

3759 -0.72 -194.7 453.6 -11.9 666 3765 0.00 2.78 0.00 0.000 4 0.000 0.055 2663 885 3869

3803 -0.78 -194.7 458.3 -11.6 673 3810 0.17 2.67 0.00 0.000 6 0.055 0.041 2624 2287 3869

4144 -0.70 -194.7 510.2 -15.1 734 4150 0.12 0.00 0.00 0.000 6 0.142 0.000 2641 2286 3869

4484 -0.70 -194.7 556.7 -13.1 795 4490 0.00 0.00 0.00 0.000 6 0.000 0.000 2641 2287 3869

4825 -0.70 -194.7 600.4 -12.7 856 4826 0.00 0.00 0.00 0.000 6 0.000 0.000 2641 2286 3869

5143 -0.70 -194.7 642.0 -13.7 886 5144 0.00 0.00 0.00 0.000 6 0.000 0.000 2641 2286 3869

5461 -0.70 -194.7 685.0 -13.3 916 5462 0.00 0.00 0.00 0.000 6 0.000 0.000 2641 2288 3869

5780 -0.70 -194.7 726.7 -13.1 946 5785 0.00 2.88 0.00 0.000 4 0.000 0.074 2641 884 3869

5829 -0.70 -194.7 733.0 -12.4 950 5834 0.00 2.70 0.00 0.000 6 0.000 0.049 2641 2269 3869

6154 -0.70 -194.7 773.8 -12.6 980 6155 0.00 0.00 0.00 0.000 6 0.000 0.000 2641 2271 3869

6472 -0.70 -194.7 813.7 -12.7 1010 6473 0.00 0.00 0.00 0.000 6 0.000 0.000 2641 2272 3868

6792 -0.70 -194.7 853.1 -12.1 1040 6793 0.00 0.00 0.00 0.000 6 0.000 0.000 2641 2274 3868

7109 -0.70 -194.7 892.5 -12.8 1070 7110 0.00 0.00 0.00 0.000 6 0.000 0.000 2641 2274 3868

7429 -0.70 -194.7 932.7 -12.7 1100 7430 0.00 0.00 0.00 0.000 6 0.000 0.000 2641 2274 3867

7746 -0.70 -194.7 972.0 -12.2 1130 7747 0.00 0.00 0.00 0.000 6 0.000 0.000 2641 2274 3867

7903 end dive: TARGET_DEPTH_EXCEEDED

state 7904 begin apogee

7908 -0.19 0.0 991.1 12.2 1145 8108 0.70 0.00 196.40 1.460 6 0.133 0.000 2757 2049 3072

8109 end apogee: CONTROL_FINISHED_OK

state 8109 begin climb

8111 0.82 194.7 999.9 0.0 1165 8323 1.23 3.22 202.05 1.364 4 0.087 0.073 2970 650 2277

8412 0.69 194.7 972.6 13.9 1194 8419 0.00 2.95 0.00 0.000 6 0.000 0.045 2970 2059 2273

8737 0.54 194.7 927.7 14.1 1225 8743 0.30 2.92 0.00 0.000 4 0.135 0.061 2921 3467 2271

8810 0.54 194.7 919.5 10.6 1231 8815 0.00 2.85 0.00 0.000 6 0.000 0.051 2922 2069 2271

9135 0.57 222.3 889.6 9.0 1261 9169 0.00 2.95 27.60 1.403 4 0.000 0.058 2921 3462 2164

9214 0.58 225.4 881.8 9.9 1268 9224 0.00 2.83 4.65 0.937 6 0.000 0.051 2922 2080 2152

9549 0.60 244.5 850.9 9.3 1300 9575 0.00 2.88 20.73 1.384 4 0.000 0.058 2921 3465 2073

9602 0.60 244.5 845.6 10.6 1304 9609 0.00 2.80 0.00 0.000 6 0.000 0.051 2948 2109 2072

9928 0.62 258.2 814.7 9.5 1335 9950 0.00 3.08 15.10 1.390 4 0.000 0.072 2922 637 2018

10056 0.64 277.2 802.3 9.3 1346 10083 0.00 2.95 20.17 1.253 6 0.000 0.045 2921 2127 1941

10400 0.65 284.6 770.1 9.7 1379 10415 0.00 3.12 9.18 1.254 4 0.000 0.071 2921 643 1910

10505 0.66 290.9 759.8 9.8 1388 10520 0.00 2.95 8.12 1.108 6 0.000 0.044 2921 2136 1884

10845 0.67 303.2 728.1 9.6 1420 10866 0.12 0.00 13.88 1.340 6 0.070 0.000 2947 2136 1834

11183 0.62 303.2 686.2 12.3 1452 11188 0.00 2.67 0.00 0.000 4 0.000 0.058 2947 3469 1832

11200 0.58 303.2 684.1 12.6 1453 11205 0.12 2.67 0.00 0.000 6 0.124 0.048 2929 2124 1830

11524 0.58 309.9 651.8 9.8 1483 11535 0.00 0.00 7.90 1.144 6 0.000 0.000 2929 2123 1807

11853 0.61 329.5 620.5 9.3 1514 11884 0.00 2.78 21.40 1.255 4 0.000 0.054 2929 3464 1725

11900 0.62 340.6 615.9 9.6 1518 11917 0.00 2.65 12.88 1.079 6 0.000 0.046 2929 2138 1682

12242 0.63 351.3 583.5 9.6 1565 12260 0.00 3.08 11.70 1.217 4 0.000 0.065 2929 638 1638

12271 0.56 356.0 580.8 9.8 1570 12283 0.00 2.95 6.32 0.884 6 0.000 0.041 2929 2147 1619

12619 0.58 369.6 547.1 9.5 1632 12637 0.00 0.00 15.02 1.212 6 0.000 0.000 2928 2147 1564

12972 0.65 384.2 513.2 9.5 1695 12996 0.00 3.12 16.33 1.177 4 0.000 0.064 2929 636 1504

13013 0.72 397.7 509.2 9.5 1702 13038 0.15 2.95 15.48 1.022 6 0.058 0.040 2962 2146 1448

13372 0.67 397.7 457.1 14.7 1766 13378 0.00 0.00 0.00 0.000 6 0.000 0.000 2962 2146 1444

13711 0.62 397.7 407.5 14.4 1827 13718 0.17 3.08 0.00 0.000 4 0.123 0.062 2932 631 1444

13751 0.70 397.7 402.7 10.3 1834 13757 0.00 2.90 0.00 0.000 6 0.000 0.039 2933 2140 1443

14091 0.80 427.3 370.1 9.0 1895 14126 0.17 0.00 29.73 1.101 6 0.061 0.000 2974 2140 1329

14462 0.71 427.3 309.2 16.6 1961 14468 0.00 3.05 0.00 0.000 4 0.000 0.062 2973 638 1324

14501 0.71 427.3 302.3 14.9 1968 14509 0.00 2.90 0.00 0.000 6 0.000 0.040 2974 2124 1324

14845 0.62 427.3 246.7 16.7 2029 14851 0.20 0.00 0.00 0.000 6 0.124 0.000 2939 2124 1323

15186 0.71 449.9 211.8 9.2 2090 15216 0.00 3.03 23.10 1.035 4 0.000 0.061 2939 634 1236

15243 0.84 467.1 206.3 9.4 2100 15268 0.17 2.88 19.30 0.857 6 0.040 0.037 2988 2109 1166

15602 0.72 467.1 138.5 18.5 2164 15610 0.15 0.00 0.00 0.000 6 0.138 0.000 2962 2109 1162

15808 0.72 467.1 107.5 15.3 2201 15814 0.00 2.97 0.00 0.000 4 0.000 0.061 2962 634 1161

15843 0.72 467.1 102.2 13.6 2207 15849 0.00 2.83 0.00 0.000 6 0.000 0.038 2962 2107 1161

16043 0.72 467.1 73.6 16.2 2244 16051 0.00 0.00 0.00 0.000 6 0.000 0.000 2962 2107 1160

16246 0.72 467.1 44.0 17.4 2281 16254 0.00 3.00 0.00 0.000 4 0.000 0.062 2962 635 1161

16266 0.72 467.1 40.8 15.1 2284 16275 0.00 2.78 0.00 0.000 6 0.000 0.038 2963 2074 1159

16402 0.78 512.8 24.4 8.4 2309 16453 0.00 0.00 45.38 0.846 6 0.000 0.000 2963 2075 979

16574 end climb: SURFACE_DEPTH_REACHED

state 16574 begin surface coast

16586 end surface coast: CONTROL_FINISHED_OK

state 16586 begin surface

ID	143	HD_C	9.8541004e-06	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0
MISSION	4	HEADING	335	PITCH_ADJ_GAIN	0.02	ALTIM_BOTTOM_TURN_MARGIN	0
DIVE	94	ESCAPE_HEADING	0	PITCH_ADJ_DBAND	2	ALTIM_TOP_TURN_MARGIN	0
D_SURF	2	ESCAPE_HEADING_DELTA	10	ROLL_MIN	182	ALTIM_TOP_MIN_OBSTACLE	0
D_FLARE	3	FIX_MISSING_TIMEOUT	0	ROLL_MAX	3816	ALTIM_PING_DEPTH	0
D_TGT	990	TGT_DEFAULT_LAT	-2030	ROLL_DEG	40	ALTIM_PING_DELTA	0
D_ABORT	1040	TGT_DEFAULT_LON	5900	C_ROLL_DIVE	2295	ALTIM_FREQUENCY	13
D_NO_BLEED	350	TGT_AUTO_DEFAULT	0	C_ROLL_CLIMB	2050	ALTIM_PULSE	3
D_FINISH	0	SM_CC	633.11926	HEAD_ERRBAND	15	ALTIM_SENSITIVITY	3
D_PITCH	0	N_FILEKB	8	ROLL_CNV	0.028270001	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	FILEMGR	0	ROLL_TIMEOUT	15	INT_PRESSURE_YINT	0
D_CALL	0	CALL_NDIVES	1	R_PORT_OVSHOOT	15	DEEPGLIDER	0
SURFACE_URGENCY	0	COMM_SEQ	0	R_STBD_OVSHOOT	27	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	KERMIT	0	ROLL_AD_RATE	250	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	N_NOCOMM	1	ROLL_MAXERRORS	1	DEVICE1	2
T_DIVE	330	N_NOSURFACE	0	ROLL_ADJ_GAIN	3	DEVICE2	20
T_MISSION	360	UPLOAD_DIVES_MAX	-1	ROLL_ADJ_DBAND	0.029999999	DEVICE3	53
T_ABORT	720	CALL_TRIES	5	VBD_MIN	490	DEVICE4	35
T_TURN	270	CALL_WAIT	60	VBD_MAX	3964	DEVICE5	87
T_TURN_SAMPINT	5	CAPUPLOAD	0	C_VBD	3071	DEVICE6	-1
T_NO_W	120	CAPMAXSIZE	100000	VBD_DBAND	2	SMARTS	0
USE_BATHY	0	HEAPDBG	0	VBD_CNV	-0.24529999	SMARTDEVICE1	-1
USE_ICE	0	T_GPS	15	VBD_TIMEOUT	720	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.30000001	N_GPS	20	PITCH_VBD_SHIFT	0.0012300001	COMPASS_DEVICE	33
D_OFFGRID	100	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_SURFACE	4	PHONE_DEVICE	48
T_WATCHDOG	10	T_GPS_CHARGE	-5857.7529	VBD_PUMP_AD_RATE_APOGEE	3	GPS_DEVICE	32
RELAUNCH	1	T_RSLEEP	3	VBD_BLEED_AD_RATE	8	RAFOS_DEVICE	-1
APOGEE_PITCH	-5	RAFOS_PEAK_OFFSET	1.5	UNCOM_BLEED	20	XPDR_DEVICE	24
MAX_BUOY	200	RAFOS_CORR_THRESH	60	VBD_MAXERRORS	1	SIM_W	0
COURSE_BIAS	0	RAFOS_HIT_WINDOW	3600	CF8_MAXERRORS	20	SIM_PITCH	0
GLIDE_SLOPE	30	PITCH_MIN	1469	AH0_24V	150	SEABIRD_T_G	0.0043273759
SPEED_FACTOR	1	PITCH_MAX	4022	AH0_10V	100	SEABIRD_T_H	0.00064184016
RHO	1.0273	C_PITCH	2800	PRESSURE_YINT	-13.47135	SEABIRD_T_I	2.4188148e-05
MASS	51457	PITCH_DBAND	0.1	PRESSURE_SLOPE	9.1530041e-05	SEABIRD_T_J	2.4070987e-06
NAV_MODE	0	PITCH_CNV	0.0046000001	AD7714Ch0Gain	64	SEABIRD_C_G	-10.197048
FERRY_MAX	45	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1695373
KALMAN_USE	2	PITCH_GAIN	27	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0015330453
HD_A	0.0038360001	PITCH_TIMEOUT	15	COMPASS_USE	0	SEABIRD_C_J	0.00015523176
HD_B	0.010078	PITCH_AD_RATE	100	ALTIM_BOTTOM_PING_RANGE	0

GPS1	235102,6054.719,-2225.315,76,1.1,76,-16.2	TGT_NAME	HEADING
_CALLS	5	TGT_LATLONG	6104.651,-2228.061
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	0.41	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-38.9	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	001605,6054.863,-2225.854,11,99.0,30,-16.2	MHEAD_RNG_PITCHd_Wd	351.2,20000,-15.7,-10.000
SPEED_LIMITS	0.173,0.296	D_GRID	990

FINISH	0.0,1.027349	XPDR_PINGS	185
SM_CCo	16601,114.00,0.746,1,0,489,633.12	_24V_AH	19.6,37.780
SM_GC	0.35,0.00,0.00,114.00,0.000,0.000,0.746,1468,2312,489,-6.13,0.48,633.12	_10V_AH	9.7,27.428
IRIDIUM_FIX	6032.86,-2228.34,180797,000036	DATA_FILE_SIZE	170862,2341
TT8_MAMPS	0.022243	CAP_FILE_SIZE	197931,0
HUMID	1629	CFSIZE	260165632,247128064
INTERNAL_PRESSURE	8.08625	ERRORS	0,0,0,0,0,0,0,0,0,0,0,3,0,1,0
TCM_TEMP	12.50	GPS	230408,045608,6057.564,-2226.734,29,1.1,29,-16.2

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	21	259	110.14	SBE_CT	1714	24	806.65
Roll_motor	121	73	175.89	SBE_O2	1665	19	620.34
VBD_pump_during_apogee	742	1460	21249.87	Optode	802	33	519.02
VBD_pump_during_surface	114	745	1665.80	WL_BB2F	938	105	1931.85
VBD_valve	0	0	0.00	WL_BBFL2VMT	1640	105	3376.03
Iridium_during_init	146	103	295.74	nil	0	0	0.00
Iridium_during_connect	198	160	622.48	nil	0	0	0.00
Iridium_during_xfer	730	223	3193.17
Transponder_ping	46	420	380.73
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	33	50	16.07
TT8	3526	19	677.31
LPSleep	7638	2	162.26
TT8_Active	907	19	174.35
TT8_Sampling	4750	39	1834.05
TT8_CF8	1375	45	611.20
TT8_Kalman	0	0	0.00
Analog_circuits	2774	12	322.90
GPS_charging	0	0	0.00
Compass	4730	8	367.09
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	-0.82	-194.7	0.0	0.0	0	138	0.00	0.00	-109.05	0.000	2	0.000	0.000	1464	2311	3524
140	-0.82	-194.7	3.0	-7.2	15	164	10.23	2.85	-7.80	0.000	4	0.259	0.062	2609	3702	3869
301	-0.71	-194.7	34.4	-16.1	44	310	0.17	2.78	0.00	0.000	6	0.146	0.040	2638	2289	3870
438	-0.65	-194.7	51.7	-11.0	69	443	0.00	0.00	0.00	0.000	6	0.000	0.000	2638	2286	3870
638	-0.60	-194.7	85.4	-16.7	106	646	0.15	0.00	0.00	0.000	6	0.140	0.000	2663	2285	3870
844	-0.60	-194.7	112.2	-13.0	143	850	0.00	2.75	0.00	0.000	4	0.000	0.054	2663	884	3870
890	-0.66	-194.7	118.0	-11.4	151	896	0.00	2.72	0.00	0.000	6	0.000	0.044	2664	2289	3870
1088	-0.66	-194.7	141.2	-11.1	188	1097	0.00	2.85	0.00	0.000	4	0.000	0.056	2663	3708	3870
1132	-0.66	-194.7	146.2	-12.3	195	1139	0.00	2.75	0.00	0.000	6	0.000	0.040	2663	2281	3870
1337	-0.66	-194.7	171.0	-12.2	232	1345	0.00	2.75	0.00	0.000	4	0.000	0.054	2663	890	3870
1380	-0.72	-194.7	175.9	-11.9	239	1386	0.00	2.72	0.00	0.000	6	0.000	0.044	2665	2298	3870
1720	-0.72	-194.7	215.6	-11.8	300	1727	0.00	0.00	0.00	0.000	6	0.000	0.000	2665	2298	3870
2062	-0.72	-194.7	254.9	-11.6	361	2067	0.00	0.00	0.00	0.000	6	0.000	0.000	2664	2298	3870
2400	-0.72	-194.7	294.5	-11.9	422	2406	0.00	0.00	0.00	0.000	6	0.000	0.000	2665	2298	3870
2739	-0.72	-194.7	334.4	-11.9	483	2745	0.00	0.00	0.00	0.000	6	0.000	0.000	2664	2298	3870
3079	-0.72	-194.7	374.4	-11.5	544	3087	0.00	0.00	0.00	0.000	6	0.000	0.000	2664	2298	3870
3420	-0.72	-194.7	414.0	-12.0	605	3426	0.00	0.00	0.00	0.000	6	0.000	0.000	2664	2298	3870
3759	-0.72	-194.7	453.6	-11.9	666	3765	0.00	2.78	0.00	0.000	4	0.000	0.055	2663	885	3869
3803	-0.78	-194.7	458.3	-11.6	673	3810	0.17	2.67	0.00	0.000	6	0.055	0.041	2624	2287	3869
4144	-0.70	-194.7	510.2	-15.1	734	4150	0.12	0.00	0.00	0.000	6	0.142	0.000	2641	2286	3869
4484	-0.70	-194.7	556.7	-13.1	795	4490	0.00	0.00	0.00	0.000	6	0.000	0.000	2641	2287	3869
4825	-0.70	-194.7	600.4	-12.7	856	4826	0.00	0.00	0.00	0.000	6	0.000	0.000	2641	2286	3869
5143	-0.70	-194.7	642.0	-13.7	886	5144	0.00	0.00	0.00	0.000	6	0.000	0.000	2641	2286	3869
5461	-0.70	-194.7	685.0	-13.3	916	5462	0.00	0.00	0.00	0.000	6	0.000	0.000	2641	2288	3869
5780	-0.70	-194.7	726.7	-13.1	946	5785	0.00	2.88	0.00	0.000	4	0.000	0.074	2641	884	3869
5829	-0.70	-194.7	733.0	-12.4	950	5834	0.00	2.70	0.00	0.000	6	0.000	0.049	2641	2269	3869
6154	-0.70	-194.7	773.8	-12.6	980	6155	0.00	0.00	0.00	0.000	6	0.000	0.000	2641	2271	3869
6472	-0.70	-194.7	813.7	-12.7	1010	6473	0.00	0.00	0.00	0.000	6	0.000	0.000	2641	2272	3868
6792	-0.70	-194.7	853.1	-12.1	1040	6793	0.00	0.00	0.00	0.000	6	0.000	0.000	2641	2274	3868
7109	-0.70	-194.7	892.5	-12.8	1070	7110	0.00	0.00	0.00	0.000	6	0.000	0.000	2641	2274	3868
7429	-0.70	-194.7	932.7	-12.7	1100	7430	0.00	0.00	0.00	0.000	6	0.000	0.000	2641	2274	3867
7746	-0.70	-194.7	972.0	-12.2	1130	7747	0.00	0.00	0.00	0.000	6	0.000	0.000	2641	2274	3867
7903	end dive: TARGET_DEPTH_EXCEEDED
state	7904	begin apogee
7908	-0.19	0.0	991.1	12.2	1145	8108	0.70	0.00	196.40	1.460	6	0.133	0.000	2757	2049	3072
8109	end apogee: CONTROL_FINISHED_OK
state	8109	begin climb
8111	0.82	194.7	999.9	0.0	1165	8323	1.23	3.22	202.05	1.364	4	0.087	0.073	2970	650	2277
8412	0.69	194.7	972.6	13.9	1194	8419	0.00	2.95	0.00	0.000	6	0.000	0.045	2970	2059	2273
8737	0.54	194.7	927.7	14.1	1225	8743	0.30	2.92	0.00	0.000	4	0.135	0.061	2921	3467	2271
8810	0.54	194.7	919.5	10.6	1231	8815	0.00	2.85	0.00	0.000	6	0.000	0.051	2922	2069	2271
9135	0.57	222.3	889.6	9.0	1261	9169	0.00	2.95	27.60	1.403	4	0.000	0.058	2921	3462	2164
9214	0.58	225.4	881.8	9.9	1268	9224	0.00	2.83	4.65	0.937	6	0.000	0.051	2922	2080	2152
9549	0.60	244.5	850.9	9.3	1300	9575	0.00	2.88	20.73	1.384	4	0.000	0.058	2921	3465	2073
9602	0.60	244.5	845.6	10.6	1304	9609	0.00	2.80	0.00	0.000	6	0.000	0.051	2948	2109	2072
9928	0.62	258.2	814.7	9.5	1335	9950	0.00	3.08	15.10	1.390	4	0.000	0.072	2922	637	2018
10056	0.64	277.2	802.3	9.3	1346	10083	0.00	2.95	20.17	1.253	6	0.000	0.045	2921	2127	1941
10400	0.65	284.6	770.1	9.7	1379	10415	0.00	3.12	9.18	1.254	4	0.000	0.071	2921	643	1910
10505	0.66	290.9	759.8	9.8	1388	10520	0.00	2.95	8.12	1.108	6	0.000	0.044	2921	2136	1884
10845	0.67	303.2	728.1	9.6	1420	10866	0.12	0.00	13.88	1.340	6	0.070	0.000	2947	2136	1834
11183	0.62	303.2	686.2	12.3	1452	11188	0.00	2.67	0.00	0.000	4	0.000	0.058	2947	3469	1832
11200	0.58	303.2	684.1	12.6	1453	11205	0.12	2.67	0.00	0.000	6	0.124	0.048	2929	2124	1830
11524	0.58	309.9	651.8	9.8	1483	11535	0.00	0.00	7.90	1.144	6	0.000	0.000	2929	2123	1807
11853	0.61	329.5	620.5	9.3	1514	11884	0.00	2.78	21.40	1.255	4	0.000	0.054	2929	3464	1725
11900	0.62	340.6	615.9	9.6	1518	11917	0.00	2.65	12.88	1.079	6	0.000	0.046	2929	2138	1682
12242	0.63	351.3	583.5	9.6	1565	12260	0.00	3.08	11.70	1.217	4	0.000	0.065	2929	638	1638
12271	0.56	356.0	580.8	9.8	1570	12283	0.00	2.95	6.32	0.884	6	0.000	0.041	2929	2147	1619
12619	0.58	369.6	547.1	9.5	1632	12637	0.00	0.00	15.02	1.212	6	0.000	0.000	2928	2147	1564
12972	0.65	384.2	513.2	9.5	1695	12996	0.00	3.12	16.33	1.177	4	0.000	0.064	2929	636	1504
13013	0.72	397.7	509.2	9.5	1702	13038	0.15	2.95	15.48	1.022	6	0.058	0.040	2962	2146	1448
13372	0.67	397.7	457.1	14.7	1766	13378	0.00	0.00	0.00	0.000	6	0.000	0.000	2962	2146	1444
13711	0.62	397.7	407.5	14.4	1827	13718	0.17	3.08	0.00	0.000	4	0.123	0.062	2932	631	1444
13751	0.70	397.7	402.7	10.3	1834	13757	0.00	2.90	0.00	0.000	6	0.000	0.039	2933	2140	1443
14091	0.80	427.3	370.1	9.0	1895	14126	0.17	0.00	29.73	1.101	6	0.061	0.000	2974	2140	1329
14462	0.71	427.3	309.2	16.6	1961	14468	0.00	3.05	0.00	0.000	4	0.000	0.062	2973	638	1324
14501	0.71	427.3	302.3	14.9	1968	14509	0.00	2.90	0.00	0.000	6	0.000	0.040	2974	2124	1324
14845	0.62	427.3	246.7	16.7	2029	14851	0.20	0.00	0.00	0.000	6	0.124	0.000	2939	2124	1323
15186	0.71	449.9	211.8	9.2	2090	15216	0.00	3.03	23.10	1.035	4	0.000	0.061	2939	634	1236
15243	0.84	467.1	206.3	9.4	2100	15268	0.17	2.88	19.30	0.857	6	0.040	0.037	2988	2109	1166
15602	0.72	467.1	138.5	18.5	2164	15610	0.15	0.00	0.00	0.000	6	0.138	0.000	2962	2109	1162
15808	0.72	467.1	107.5	15.3	2201	15814	0.00	2.97	0.00	0.000	4	0.000	0.061	2962	634	1161
15843	0.72	467.1	102.2	13.6	2207	15849	0.00	2.83	0.00	0.000	6	0.000	0.038	2962	2107	1161
16043	0.72	467.1	73.6	16.2	2244	16051	0.00	0.00	0.00	0.000	6	0.000	0.000	2962	2107	1160
16246	0.72	467.1	44.0	17.4	2281	16254	0.00	3.00	0.00	0.000	4	0.000	0.062	2962	635	1161
16266	0.72	467.1	40.8	15.1	2284	16275	0.00	2.78	0.00	0.000	6	0.000	0.038	2963	2074	1159
16402	0.78	512.8	24.4	8.4	2309	16453	0.00	0.00	45.38	0.846	6	0.000	0.000	2963	2075	979
16574	end climb: SURFACE_DEPTH_REACHED
state	16574	begin surface coast
16586	end surface coast: CONTROL_FINISHED_OK
state	16586	begin surface