Glider dive log

NAB Apr08 * SG142 * Dive index * Mission links * Dive 140 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 142 HD_C 9.9999997e-06 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0

MISSION 5 HEADING 230 PITCH_ADJ_GAIN 0.02 ALTIM_BOTTOM_TURN_MARGIN 0

DIVE 140 ESCAPE_HEADING 0 PITCH_ADJ_DBAND 2 ALTIM_TOP_TURN_MARGIN 0

D_SURF 2 ESCAPE_HEADING_DELTA 10 ROLL_MIN 220 ALTIM_TOP_MIN_OBSTACLE 1

D_FLARE 3 FIX_MISSING_TIMEOUT 0 ROLL_MAX 3900 ALTIM_PING_DEPTH 0

D_TGT 990 TGT_DEFAULT_LAT 5900 ROLL_DEG 40 ALTIM_PING_DELTA 0

D_ABORT 1040 TGT_DEFAULT_LON -2030 C_ROLL_DIVE 2300 ALTIM_FREQUENCY 13

D_NO_BLEED 350 TGT_AUTO_DEFAULT 0 C_ROLL_CLIMB 2750 ALTIM_PULSE 3

D_FINISH 0 SM_CC 200 HEAD_ERRBAND 15 ALTIM_SENSITIVITY 3

D_PITCH 0 N_FILEKB 4 ROLL_CNV 0.028270001 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 FILEMGR 0 ROLL_TIMEOUT 15 INT_PRESSURE_YINT -1.65

D_CALL 0 CALL_NDIVES 1 R_PORT_OVSHOOT 30 DEEPGLIDER 0

SURFACE_URGENCY 0 COMM_SEQ 0 R_STBD_OVSHOOT 19 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 KERMIT 0 ROLL_AD_RATE 250 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 N_NOCOMM 1 ROLL_MAXERRORS 1 DEVICE1 2

T_DIVE 330 N_NOSURFACE 0 ROLL_ADJ_GAIN 3 DEVICE2 20

T_MISSION 360 UPLOAD_DIVES_MAX -1 ROLL_ADJ_DBAND 0.029999999 DEVICE3 53

T_ABORT 720 CALL_TRIES 5 VBD_MIN 475 DEVICE4 35

T_TURN 225 CALL_WAIT 60 VBD_MAX 3964 DEVICE5 87

T_TURN_SAMPINT 5 CAPUPLOAD 0 C_VBD 3071 DEVICE6 -1

T_NO_W 240 CAPMAXSIZE 100000 VBD_DBAND 2 SMARTS 0

USE_BATHY 0 HEAPDBG 0 VBD_CNV -0.24529999 SMARTDEVICE1 -1

USE_ICE 0 T_GPS 15 VBD_TIMEOUT 720 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.30000001 N_GPS 20 PITCH_VBD_SHIFT 0.0012300001 COMPASS_DEVICE 33

D_OFFGRID 100 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_SURFACE 4 PHONE_DEVICE 48

T_WATCHDOG 10 T_GPS_CHARGE -15536.981 VBD_PUMP_AD_RATE_APOGEE 3 GPS_DEVICE 32

RELAUNCH 1 T_RSLEEP 3 VBD_BLEED_AD_RATE 8 RAFOS_DEVICE -1

APOGEE_PITCH -5 RAFOS_PEAK_OFFSET 1.5 UNCOM_BLEED 20 XPDR_DEVICE 24

MAX_BUOY 200 RAFOS_CORR_THRESH 60 VBD_MAXERRORS 1 SIM_W 0

COURSE_BIAS 0 RAFOS_HIT_WINDOW 3600 CF8_MAXERRORS 20 SIM_PITCH 0

GLIDE_SLOPE 30 PITCH_MIN 1435 AH0_24V 150 SEABIRD_T_G 0.0043273787

SPEED_FACTOR 1 PITCH_MAX 3965 AH0_10V 100 SEABIRD_T_H 0.0006414231

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

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

NAV_MODE 0 PITCH_CNV 0.0046000001 AD7714Ch0Gain 64 SEABIRD_C_G -10.258962

FERRY_MAX 45 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1819305

KALMAN_USE 2 PITCH_GAIN 24 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0037964056

HD_A 0.003 PITCH_TIMEOUT 15 COMPASS_USE 0 SEABIRD_C_J 0.00031207138

HD_B 0.0099999998 PITCH_AD_RATE 100 ALTIM_BOTTOM_PING_RANGE 0

AD7714Ch0Gain 64 D_FINISH 0 PITCH_AD_RATE 100 SMARTDEVICE1 -1

AH0_10V 100 D_FLARE 3 PITCH_CNV 0.0046000001 SMARTDEVICE2 -1

AH0_24V 150 D_NO_BLEED 350 PITCH_DBAND 0.1 SMARTS 0

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 100 PITCH_GAIN 24 SM_CC 200

ALTIM_BOTTOM_TURN_MARGIN 0 D_PITCH 0 PITCH_MAX 3965 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 0 D_SURF 2 PITCH_MIN 1435 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 0 D_TGT 990 PITCH_TIMEOUT 15 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 3 ESCAPE_HEADING 0 PITCH_VBD_SHIFT 0.0012300001 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 3 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 9.1518581e-05 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 45 PRESSURE_YINT -2.876246 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LAT 5900

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 RAFOS_CORR_THRESH 60 TGT_DEFAULT_LON -2030

APOGEE_PITCH -5 GLIDE_SLOPE 30 RAFOS_DEVICE -1 T_ABORT 720

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_DIVE 330

CALL_TRIES 5 HD_A 0.003 RAFOS_PEAK_OFFSET 1.5 T_GPS 15

CALL_WAIT 60 HD_B 0.0099999998 RELAUNCH 1 T_GPS_ALMANAC 0

CAPMAXSIZE 100000 HD_C 9.9999997e-06 RHO 1.0273 T_GPS_CHARGE -15536.981

CAPUPLOAD 0 HEADING 230 ROLL_ADJ_DBAND 0.029999999 T_MISSION 360

CF8_MAXERRORS 20 HEAD_ERRBAND 15 ROLL_ADJ_GAIN 3 T_NO_W 240

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 250 T_RSLEEP 3

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN 225

COMPASS_USE 0 ID 142 ROLL_DEG 40 T_TURN_SAMPINT 5

COURSE_BIAS 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3900 T_WATCHDOG 10

C_PITCH 2920 INT_PRESSURE_YINT -1.65 ROLL_MAXERRORS 1 UNCOM_BLEED 20

C_ROLL_CLIMB 2750 KALMAN_USE 2 ROLL_MIN 220 UPLOAD_DIVES_MAX -1

C_ROLL_DIVE 2300 KERMIT 0 ROLL_TIMEOUT 15 USE_BATHY 0

C_VBD 3071 MASS 51804 R_PORT_OVSHOOT 30 USE_ICE 0

DEEPGLIDER 0 MAX_BUOY 200 R_STBD_OVSHOOT 19 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 3964

DEVICE3 53 N_FILEKB 4 SEABIRD_C_J 0.00031207138 VBD_MAXERRORS 1

DEVICE4 35 N_GPS 20 SEABIRD_T_G 0.0043273787 VBD_MIN 475

DEVICE5 87 N_NOCOMM 1 SEABIRD_T_H 0.0006414231 VBD_PUMP_AD_RATE_APOGEE 3

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

DIVE 140 PHONE_DEVICE 48 SEABIRD_T_J 2.340664e-06 VBD_TIMEOUT 720

D_ABORT 1040 PITCH_ADJ_DBAND 2 SIM_PITCH 0 XPDR_DEVICE 24

D_CALL 0 PITCH_ADJ_GAIN 0.02 SIM_W 0

Pre-dive calculations and measurements:

GPS1 054832,6059.973,-2608.727,41,1.3,41,-18.2 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG 6053.025,-2612.920

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 0.51 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -41.9 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 055627,6059.967,-2608.894,12,1.9,12,-18.2 MHEAD_RNG_PITCHd_Wd 248.2,20000,-14.9,-10.000

SPEED_LIMITS 0.173,0.295 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.3,1.026296 XPDR_PINGS 803

SM_CCo 17861,0.00,0.000,0,0,1183,462.88 _24V_AH 19.5,48.695

SM_GC 0.50,8.32,0.00,0.00,0.045,0.000,0.000,1435,2285,1183,-6.79,-0.42,462.88 _10V_AH 9.7,37.453

IRIDIUM_FIX 6041.65,-2600.10,290797,000022 DATA_FILE_SIZE 132924,1810

TT8_MAMPS 0.026845 CAP_FILE_SIZE 158595,0

HUMID 1766 CFSIZE 260165632,242987008

INTERNAL_PRESSURE 8.87775 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 11.80 GPS 040508,105537,6056.601,-2618.215,36,1.1,36,-18.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 22 246 110.41 SBE_CT 1257 24 588.35

Roll_motor 102 115 231.09 SBE_O2 1302 19 482.40

VBD_pump_during_apogee 693 1606 21743.35 Optode 663 33 427.13

VBD_pump_during_surface 0 0 0.00 WL_BB2F 881 105 1805.20

VBD_valve 0 0 0.00 WL_BBFL2VMT 1633 105 3344.39

Iridium_during_init 23 103 46.38 nil 0 0 0.00

Iridium_during_connect 28 160 88.34 nil 0 0 0.00

Iridium_during_xfer 286 223 1247.90

Transponder_ping 200 420 1644.14

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 14 50 6.94

TT8 2816 19 540.94

LPSleep 10094 2 214.44

TT8_Active 759 19 145.93

TT8_Sampling 4014 39 1549.80

TT8_CF8 630 45 280.15

TT8_Kalman 0 0 0.00

Analog_circuits 2305 12 268.33

GPS_charging 0 0 0.00

Compass 4015 8 311.61

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

25 end surface: CONTROL_FINISHED_OK

state 25 begin dive

28 -0.86 -194.7 0.0 0.0 0 175 0.00 0.00 -144.12 0.000 2 0.000 0.000 1438 2276 3617

177 -0.86 -194.7 3.6 -6.9 20 202 11.38 2.80 -6.47 0.000 4 0.247 0.057 2724 891 3866

436 -0.86 -194.7 52.8 -14.9 68 444 0.00 2.78 0.00 0.000 6 0.000 0.030 2725 2308 3866

769 -0.79 -194.7 93.3 -12.2 129 776 0.12 2.83 0.00 0.000 4 0.136 0.046 2741 897 3867

913 -0.79 -194.7 109.5 -10.1 155 919 0.00 2.70 0.00 0.000 6 0.000 0.030 2741 2296 3866

1240 -0.79 -194.7 146.6 -11.9 216 1248 0.00 0.00 0.00 0.000 6 0.000 0.000 2742 2296 3866

1583 -0.79 -194.7 186.9 -11.4 277 1589 0.00 2.80 0.00 0.000 4 0.000 0.048 2741 891 3866

1622 -0.79 -194.7 191.7 -11.4 284 1630 0.00 2.72 0.00 0.000 6 0.000 0.031 2742 2292 3866

1967 -0.79 -194.7 230.7 -11.1 345 1973 0.00 0.00 0.00 0.000 6 0.000 0.000 2742 2293 3866

2304 -0.79 -194.7 268.1 -10.8 406 2310 0.00 2.78 0.00 0.000 4 0.000 0.048 2742 899 3866

2370 -0.79 -194.7 275.7 -11.3 418 2376 0.00 2.67 0.00 0.000 6 0.000 0.030 2742 2293 3866

2709 -0.79 -194.7 310.6 -10.1 479 2714 0.00 0.00 0.00 0.000 6 0.000 0.000 2742 2294 3866

3049 -0.79 -194.7 347.0 -10.1 540 3056 0.00 0.00 0.00 0.000 6 0.000 0.000 2742 2293 3866

3378 -0.79 -194.7 382.0 -11.1 573 3379 0.00 0.00 0.00 0.000 6 0.000 0.000 2742 2294 3866

3694 -0.79 -194.7 419.8 -12.4 603 3699 0.00 2.78 0.00 0.000 4 0.000 0.048 2742 899 3866

3744 -0.79 -194.7 426.2 -13.3 607 3749 0.00 2.65 0.00 0.000 6 0.000 0.030 2742 2282 3866

4070 -0.79 -194.7 470.9 -14.6 637 4071 0.00 0.00 0.00 0.000 6 0.000 0.000 2742 2283 3866

4387 -0.79 -194.7 516.2 -14.0 667 4388 0.00 0.00 0.00 0.000 6 0.000 0.000 2742 2283 3866

4708 -0.79 -194.7 557.9 -12.3 697 4709 0.00 0.00 0.00 0.000 6 0.000 0.000 2742 2283 3866

5024 -0.79 -194.7 594.6 -11.1 727 5028 0.00 2.83 0.00 0.000 4 0.000 0.051 2742 3699 3866

5054 -0.79 -194.7 597.7 -11.5 729 5059 0.00 2.75 0.00 0.000 6 0.000 0.035 2742 2293 3866

5369 -0.79 -194.7 631.0 -10.1 745 5374 0.00 2.88 0.00 0.000 4 0.000 0.052 2742 3706 3866

5396 -0.79 -194.7 633.5 -9.7 746 5401 0.00 2.78 0.00 0.000 6 0.000 0.038 2742 2297 3866

5712 -0.79 -194.7 660.5 -8.3 761 5713 0.00 0.00 0.00 0.000 6 0.000 0.000 2742 2297 3866

6021 -0.79 -194.7 688.1 -9.7 776 6022 0.00 0.00 0.00 0.000 6 0.000 0.000 2742 2297 3866

6330 -0.79 -194.7 723.3 -12.5 791 6331 0.00 0.00 0.00 0.000 6 0.000 0.000 2742 2297 3866

6639 -0.79 -194.7 761.9 -12.2 806 6640 0.00 0.00 0.00 0.000 6 0.000 0.000 2741 2297 3866

6948 -0.79 -194.7 798.6 -11.8 821 6949 0.00 0.00 0.00 0.000 6 0.000 0.000 2742 2297 3866

7257 -0.79 -194.7 833.1 -10.2 836 7258 0.00 0.00 0.00 0.000 6 0.000 0.000 2742 2297 3866

7567 -0.79 -194.7 861.4 -9.0 851 7568 0.00 0.00 0.00 0.000 6 0.000 0.000 2742 2298 3866

7876 -0.79 -194.7 890.6 -9.6 866 7881 0.00 3.30 0.00 0.000 4 0.000 0.116 2742 3702 3865

7903 -0.79 -194.7 893.2 -9.9 867 7907 0.00 2.78 0.00 0.000 6 0.000 0.039 2742 2297 3865

8224 -0.79 -194.7 922.5 -9.2 883 8226 0.00 0.00 0.00 0.000 6 0.000 0.000 2742 2296 3865

8533 -0.79 -194.7 952.6 -10.4 898 8534 0.00 0.00 0.00 0.000 6 0.000 0.000 2741 2296 3865

8842 -0.79 -194.7 987.8 -11.6 913 8847 0.00 2.90 0.00 0.000 4 0.000 0.058 2741 3703 3864

8861 end dive: TARGET_DEPTH_EXCEEDED

state 8861 begin apogee

8869 -0.21 0.0 990.4 11.7 914 9076 0.75 0.00 203.85 1.607 6 0.122 0.000 2866 2746 3071

9077 end apogee: CONTROL_FINISHED_OK

state 9077 begin climb

9079 0.86 194.7 999.1 0.0 924 9304 1.40 2.65 211.32 1.552 4 0.078 0.054 3099 3882 2277

9472 0.70 194.7 952.8 15.5 942 9477 0.17 2.30 0.00 0.000 6 0.128 0.041 3076 2751 2274

9793 0.58 194.7 911.3 12.7 958 9795 0.17 0.00 0.00 0.000 6 0.119 0.000 3050 2749 2274

10102 0.57 234.5 882.1 8.6 973 10148 0.00 2.42 40.40 1.471 4 0.000 0.055 3050 3887 2115

10198 0.59 246.1 873.5 9.6 977 10218 0.00 2.33 13.38 1.347 6 0.000 0.041 3050 2728 2067

10535 0.61 266.4 844.1 9.3 994 10563 0.00 2.50 21.83 1.403 4 0.000 0.053 3050 3887 1984

10609 0.61 266.4 836.7 10.1 997 10613 0.00 2.25 0.00 0.000 6 0.000 0.033 3050 2775 1983

10930 0.62 269.8 805.6 9.9 1013 10940 0.00 2.92 4.75 0.950 4 0.000 0.050 3049 1339 1971

10969 0.62 269.8 801.6 10.1 1015 10973 0.00 2.83 0.00 0.000 6 0.000 0.032 3050 2762 1970

11294 0.63 278.0 768.2 9.7 1031 11309 0.00 2.30 9.90 1.226 4 0.000 0.058 3049 3896 1937

11348 0.63 281.9 762.7 9.9 1033 11360 0.00 2.22 5.90 1.072 6 0.000 0.032 3049 2760 1921

11668 0.63 281.9 730.7 10.2 1049 11669 0.00 0.00 0.00 0.000 6 0.000 0.000 3049 2758 1920

11978 0.64 291.6 699.6 9.7 1064 11991 0.00 0.00 11.25 1.228 6 0.000 0.000 3050 2758 1882

12286 0.64 291.6 666.7 11.0 1079 12287 0.00 0.00 0.00 0.000 6 0.000 0.000 3049 2758 1881

12595 0.64 291.6 633.7 10.4 1094 12596 0.00 0.00 0.00 0.000 6 0.000 0.000 3050 2758 1880

12905 0.66 307.5 603.4 9.4 1109 12925 0.00 0.00 17.35 1.256 6 0.000 0.000 3049 2758 1817

13244 0.75 378.9 575.1 7.5 1139 13324 0.17 0.00 74.82 1.323 6 0.056 0.000 3084 2758 1526

13644 0.68 378.9 526.4 12.7 1177 13648 0.00 2.33 0.00 0.000 4 0.000 0.049 3084 3894 1518

13688 0.64 378.9 520.4 11.8 1180 13696 0.12 2.22 0.00 0.000 6 0.099 0.031 3062 2770 1518

14013 0.64 378.9 482.9 13.1 1211 14018 0.00 2.88 0.00 0.000 4 0.000 0.046 3063 1335 1517

14041 0.64 378.9 479.2 13.1 1213 14045 0.00 2.83 0.00 0.000 6 0.000 0.031 3063 2774 1516

14365 0.64 378.9 432.8 15.8 1243 14366 0.00 0.00 0.00 0.000 6 0.000 0.000 3062 2775 1516

14685 0.64 378.9 382.7 15.0 1273 14690 0.00 2.90 0.00 0.000 4 0.000 0.045 3063 1334 1516

14717 0.64 378.9 377.7 14.3 1275 14724 0.00 2.78 0.00 0.000 6 0.000 0.031 3063 2762 1515

15049 0.64 378.9 333.5 13.4 1317 15055 0.00 0.00 0.00 0.000 6 0.000 0.000 3063 2762 1516

15387 0.64 378.9 293.8 10.9 1378 15392 0.00 0.00 0.00 0.000 6 0.000 0.000 3063 2762 1515

15725 0.64 378.9 256.8 11.2 1439 15731 0.00 2.85 0.00 0.000 4 0.000 0.044 3063 1336 1515

15770 0.68 378.9 251.8 11.4 1447 15776 0.00 2.75 0.00 0.000 6 0.000 0.031 3063 2754 1515

16110 0.68 378.9 214.0 10.9 1508 16118 0.00 0.00 0.00 0.000 6 0.000 0.000 3063 2755 1515

16452 0.68 378.9 167.1 14.3 1569 16459 0.00 2.80 0.00 0.000 4 0.000 0.044 3062 1344 1515

16488 0.72 378.9 161.9 14.7 1575 16495 0.00 2.72 0.00 0.000 6 0.000 0.030 3063 2755 1515

16824 0.72 378.9 121.3 10.2 1636 16831 0.00 0.00 0.00 0.000 6 0.000 0.000 3062 2755 1515

17158 0.82 460.1 91.9 7.2 1697 17245 0.15 0.00 79.18 1.012 6 0.055 0.000 3098 2755 1194

17570 0.75 460.1 31.3 16.9 1771 17577 0.00 0.00 0.00 0.000 6 0.000 0.000 3098 2756 1187

17705 0.69 460.1 9.3 14.6 1796 17713 0.15 0.00 0.00 0.000 6 0.105 0.000 3072 2755 1186

17766 end climb: SURFACE_DEPTH_REACHED

state 17766 begin surface coast

17783 end surface coast: CONTROL_FINISHED_OK

state 17783 begin surface

ID	142	HD_C	9.9999997e-06	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0
MISSION	5	HEADING	230	PITCH_ADJ_GAIN	0.02	ALTIM_BOTTOM_TURN_MARGIN	0
DIVE	140	ESCAPE_HEADING	0	PITCH_ADJ_DBAND	2	ALTIM_TOP_TURN_MARGIN	0
D_SURF	2	ESCAPE_HEADING_DELTA	10	ROLL_MIN	220	ALTIM_TOP_MIN_OBSTACLE	1
D_FLARE	3	FIX_MISSING_TIMEOUT	0	ROLL_MAX	3900	ALTIM_PING_DEPTH	0
D_TGT	990	TGT_DEFAULT_LAT	5900	ROLL_DEG	40	ALTIM_PING_DELTA	0
D_ABORT	1040	TGT_DEFAULT_LON	-2030	C_ROLL_DIVE	2300	ALTIM_FREQUENCY	13
D_NO_BLEED	350	TGT_AUTO_DEFAULT	0	C_ROLL_CLIMB	2750	ALTIM_PULSE	3
D_FINISH	0	SM_CC	200	HEAD_ERRBAND	15	ALTIM_SENSITIVITY	3
D_PITCH	0	N_FILEKB	4	ROLL_CNV	0.028270001	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	FILEMGR	0	ROLL_TIMEOUT	15	INT_PRESSURE_YINT	-1.65
D_CALL	0	CALL_NDIVES	1	R_PORT_OVSHOOT	30	DEEPGLIDER	0
SURFACE_URGENCY	0	COMM_SEQ	0	R_STBD_OVSHOOT	19	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	KERMIT	0	ROLL_AD_RATE	250	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	N_NOCOMM	1	ROLL_MAXERRORS	1	DEVICE1	2
T_DIVE	330	N_NOSURFACE	0	ROLL_ADJ_GAIN	3	DEVICE2	20
T_MISSION	360	UPLOAD_DIVES_MAX	-1	ROLL_ADJ_DBAND	0.029999999	DEVICE3	53
T_ABORT	720	CALL_TRIES	5	VBD_MIN	475	DEVICE4	35
T_TURN	225	CALL_WAIT	60	VBD_MAX	3964	DEVICE5	87
T_TURN_SAMPINT	5	CAPUPLOAD	0	C_VBD	3071	DEVICE6	-1
T_NO_W	240	CAPMAXSIZE	100000	VBD_DBAND	2	SMARTS	0
USE_BATHY	0	HEAPDBG	0	VBD_CNV	-0.24529999	SMARTDEVICE1	-1
USE_ICE	0	T_GPS	15	VBD_TIMEOUT	720	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.30000001	N_GPS	20	PITCH_VBD_SHIFT	0.0012300001	COMPASS_DEVICE	33
D_OFFGRID	100	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_SURFACE	4	PHONE_DEVICE	48
T_WATCHDOG	10	T_GPS_CHARGE	-15536.981	VBD_PUMP_AD_RATE_APOGEE	3	GPS_DEVICE	32
RELAUNCH	1	T_RSLEEP	3	VBD_BLEED_AD_RATE	8	RAFOS_DEVICE	-1
APOGEE_PITCH	-5	RAFOS_PEAK_OFFSET	1.5	UNCOM_BLEED	20	XPDR_DEVICE	24
MAX_BUOY	200	RAFOS_CORR_THRESH	60	VBD_MAXERRORS	1	SIM_W	0
COURSE_BIAS	0	RAFOS_HIT_WINDOW	3600	CF8_MAXERRORS	20	SIM_PITCH	0
GLIDE_SLOPE	30	PITCH_MIN	1435	AH0_24V	150	SEABIRD_T_G	0.0043273787
SPEED_FACTOR	1	PITCH_MAX	3965	AH0_10V	100	SEABIRD_T_H	0.0006414231
RHO	1.0273	C_PITCH	2920	PRESSURE_YINT	-2.876246	SEABIRD_T_I	2.3931538e-05
MASS	51804	PITCH_DBAND	0.1	PRESSURE_SLOPE	9.1518581e-05	SEABIRD_T_J	2.340664e-06
NAV_MODE	0	PITCH_CNV	0.0046000001	AD7714Ch0Gain	64	SEABIRD_C_G	-10.258962
FERRY_MAX	45	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1819305
KALMAN_USE	2	PITCH_GAIN	24	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0037964056
HD_A	0.003	PITCH_TIMEOUT	15	COMPASS_USE	0	SEABIRD_C_J	0.00031207138
HD_B	0.0099999998	PITCH_AD_RATE	100	ALTIM_BOTTOM_PING_RANGE	0

GPS1	054832,6059.973,-2608.727,41,1.3,41,-18.2	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	6053.025,-2612.920
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	0.51	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-41.9	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	055627,6059.967,-2608.894,12,1.9,12,-18.2	MHEAD_RNG_PITCHd_Wd	248.2,20000,-14.9,-10.000
SPEED_LIMITS	0.173,0.295	D_GRID	990

FINISH	0.3,1.026296	XPDR_PINGS	803
SM_CCo	17861,0.00,0.000,0,0,1183,462.88	_24V_AH	19.5,48.695
SM_GC	0.50,8.32,0.00,0.00,0.045,0.000,0.000,1435,2285,1183,-6.79,-0.42,462.88	_10V_AH	9.7,37.453
IRIDIUM_FIX	6041.65,-2600.10,290797,000022	DATA_FILE_SIZE	132924,1810
TT8_MAMPS	0.026845	CAP_FILE_SIZE	158595,0
HUMID	1766	CFSIZE	260165632,242987008
INTERNAL_PRESSURE	8.87775	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	11.80	GPS	040508,105537,6056.601,-2618.215,36,1.1,36,-18.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	22	246	110.41	SBE_CT	1257	24	588.35
Roll_motor	102	115	231.09	SBE_O2	1302	19	482.40
VBD_pump_during_apogee	693	1606	21743.35	Optode	663	33	427.13
VBD_pump_during_surface	0	0	0.00	WL_BB2F	881	105	1805.20
VBD_valve	0	0	0.00	WL_BBFL2VMT	1633	105	3344.39
Iridium_during_init	23	103	46.38	nil	0	0	0.00
Iridium_during_connect	28	160	88.34	nil	0	0	0.00
Iridium_during_xfer	286	223	1247.90
Transponder_ping	200	420	1644.14
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	14	50	6.94
TT8	2816	19	540.94
LPSleep	10094	2	214.44
TT8_Active	759	19	145.93
TT8_Sampling	4014	39	1549.80
TT8_CF8	630	45	280.15
TT8_Kalman	0	0	0.00
Analog_circuits	2305	12	268.33
GPS_charging	0	0	0.00
Compass	4015	8	311.61
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
25	end surface: CONTROL_FINISHED_OK
state	25	begin dive
28	-0.86	-194.7	0.0	0.0	0	175	0.00	0.00	-144.12	0.000	2	0.000	0.000	1438	2276	3617
177	-0.86	-194.7	3.6	-6.9	20	202	11.38	2.80	-6.47	0.000	4	0.247	0.057	2724	891	3866
436	-0.86	-194.7	52.8	-14.9	68	444	0.00	2.78	0.00	0.000	6	0.000	0.030	2725	2308	3866
769	-0.79	-194.7	93.3	-12.2	129	776	0.12	2.83	0.00	0.000	4	0.136	0.046	2741	897	3867
913	-0.79	-194.7	109.5	-10.1	155	919	0.00	2.70	0.00	0.000	6	0.000	0.030	2741	2296	3866
1240	-0.79	-194.7	146.6	-11.9	216	1248	0.00	0.00	0.00	0.000	6	0.000	0.000	2742	2296	3866
1583	-0.79	-194.7	186.9	-11.4	277	1589	0.00	2.80	0.00	0.000	4	0.000	0.048	2741	891	3866
1622	-0.79	-194.7	191.7	-11.4	284	1630	0.00	2.72	0.00	0.000	6	0.000	0.031	2742	2292	3866
1967	-0.79	-194.7	230.7	-11.1	345	1973	0.00	0.00	0.00	0.000	6	0.000	0.000	2742	2293	3866
2304	-0.79	-194.7	268.1	-10.8	406	2310	0.00	2.78	0.00	0.000	4	0.000	0.048	2742	899	3866
2370	-0.79	-194.7	275.7	-11.3	418	2376	0.00	2.67	0.00	0.000	6	0.000	0.030	2742	2293	3866
2709	-0.79	-194.7	310.6	-10.1	479	2714	0.00	0.00	0.00	0.000	6	0.000	0.000	2742	2294	3866
3049	-0.79	-194.7	347.0	-10.1	540	3056	0.00	0.00	0.00	0.000	6	0.000	0.000	2742	2293	3866
3378	-0.79	-194.7	382.0	-11.1	573	3379	0.00	0.00	0.00	0.000	6	0.000	0.000	2742	2294	3866
3694	-0.79	-194.7	419.8	-12.4	603	3699	0.00	2.78	0.00	0.000	4	0.000	0.048	2742	899	3866
3744	-0.79	-194.7	426.2	-13.3	607	3749	0.00	2.65	0.00	0.000	6	0.000	0.030	2742	2282	3866
4070	-0.79	-194.7	470.9	-14.6	637	4071	0.00	0.00	0.00	0.000	6	0.000	0.000	2742	2283	3866
4387	-0.79	-194.7	516.2	-14.0	667	4388	0.00	0.00	0.00	0.000	6	0.000	0.000	2742	2283	3866
4708	-0.79	-194.7	557.9	-12.3	697	4709	0.00	0.00	0.00	0.000	6	0.000	0.000	2742	2283	3866
5024	-0.79	-194.7	594.6	-11.1	727	5028	0.00	2.83	0.00	0.000	4	0.000	0.051	2742	3699	3866
5054	-0.79	-194.7	597.7	-11.5	729	5059	0.00	2.75	0.00	0.000	6	0.000	0.035	2742	2293	3866
5369	-0.79	-194.7	631.0	-10.1	745	5374	0.00	2.88	0.00	0.000	4	0.000	0.052	2742	3706	3866
5396	-0.79	-194.7	633.5	-9.7	746	5401	0.00	2.78	0.00	0.000	6	0.000	0.038	2742	2297	3866
5712	-0.79	-194.7	660.5	-8.3	761	5713	0.00	0.00	0.00	0.000	6	0.000	0.000	2742	2297	3866
6021	-0.79	-194.7	688.1	-9.7	776	6022	0.00	0.00	0.00	0.000	6	0.000	0.000	2742	2297	3866
6330	-0.79	-194.7	723.3	-12.5	791	6331	0.00	0.00	0.00	0.000	6	0.000	0.000	2742	2297	3866
6639	-0.79	-194.7	761.9	-12.2	806	6640	0.00	0.00	0.00	0.000	6	0.000	0.000	2741	2297	3866
6948	-0.79	-194.7	798.6	-11.8	821	6949	0.00	0.00	0.00	0.000	6	0.000	0.000	2742	2297	3866
7257	-0.79	-194.7	833.1	-10.2	836	7258	0.00	0.00	0.00	0.000	6	0.000	0.000	2742	2297	3866
7567	-0.79	-194.7	861.4	-9.0	851	7568	0.00	0.00	0.00	0.000	6	0.000	0.000	2742	2298	3866
7876	-0.79	-194.7	890.6	-9.6	866	7881	0.00	3.30	0.00	0.000	4	0.000	0.116	2742	3702	3865
7903	-0.79	-194.7	893.2	-9.9	867	7907	0.00	2.78	0.00	0.000	6	0.000	0.039	2742	2297	3865
8224	-0.79	-194.7	922.5	-9.2	883	8226	0.00	0.00	0.00	0.000	6	0.000	0.000	2742	2296	3865
8533	-0.79	-194.7	952.6	-10.4	898	8534	0.00	0.00	0.00	0.000	6	0.000	0.000	2741	2296	3865
8842	-0.79	-194.7	987.8	-11.6	913	8847	0.00	2.90	0.00	0.000	4	0.000	0.058	2741	3703	3864
8861	end dive: TARGET_DEPTH_EXCEEDED
state	8861	begin apogee
8869	-0.21	0.0	990.4	11.7	914	9076	0.75	0.00	203.85	1.607	6	0.122	0.000	2866	2746	3071
9077	end apogee: CONTROL_FINISHED_OK
state	9077	begin climb
9079	0.86	194.7	999.1	0.0	924	9304	1.40	2.65	211.32	1.552	4	0.078	0.054	3099	3882	2277
9472	0.70	194.7	952.8	15.5	942	9477	0.17	2.30	0.00	0.000	6	0.128	0.041	3076	2751	2274
9793	0.58	194.7	911.3	12.7	958	9795	0.17	0.00	0.00	0.000	6	0.119	0.000	3050	2749	2274
10102	0.57	234.5	882.1	8.6	973	10148	0.00	2.42	40.40	1.471	4	0.000	0.055	3050	3887	2115
10198	0.59	246.1	873.5	9.6	977	10218	0.00	2.33	13.38	1.347	6	0.000	0.041	3050	2728	2067
10535	0.61	266.4	844.1	9.3	994	10563	0.00	2.50	21.83	1.403	4	0.000	0.053	3050	3887	1984
10609	0.61	266.4	836.7	10.1	997	10613	0.00	2.25	0.00	0.000	6	0.000	0.033	3050	2775	1983
10930	0.62	269.8	805.6	9.9	1013	10940	0.00	2.92	4.75	0.950	4	0.000	0.050	3049	1339	1971
10969	0.62	269.8	801.6	10.1	1015	10973	0.00	2.83	0.00	0.000	6	0.000	0.032	3050	2762	1970
11294	0.63	278.0	768.2	9.7	1031	11309	0.00	2.30	9.90	1.226	4	0.000	0.058	3049	3896	1937
11348	0.63	281.9	762.7	9.9	1033	11360	0.00	2.22	5.90	1.072	6	0.000	0.032	3049	2760	1921
11668	0.63	281.9	730.7	10.2	1049	11669	0.00	0.00	0.00	0.000	6	0.000	0.000	3049	2758	1920
11978	0.64	291.6	699.6	9.7	1064	11991	0.00	0.00	11.25	1.228	6	0.000	0.000	3050	2758	1882
12286	0.64	291.6	666.7	11.0	1079	12287	0.00	0.00	0.00	0.000	6	0.000	0.000	3049	2758	1881
12595	0.64	291.6	633.7	10.4	1094	12596	0.00	0.00	0.00	0.000	6	0.000	0.000	3050	2758	1880
12905	0.66	307.5	603.4	9.4	1109	12925	0.00	0.00	17.35	1.256	6	0.000	0.000	3049	2758	1817
13244	0.75	378.9	575.1	7.5	1139	13324	0.17	0.00	74.82	1.323	6	0.056	0.000	3084	2758	1526
13644	0.68	378.9	526.4	12.7	1177	13648	0.00	2.33	0.00	0.000	4	0.000	0.049	3084	3894	1518
13688	0.64	378.9	520.4	11.8	1180	13696	0.12	2.22	0.00	0.000	6	0.099	0.031	3062	2770	1518
14013	0.64	378.9	482.9	13.1	1211	14018	0.00	2.88	0.00	0.000	4	0.000	0.046	3063	1335	1517
14041	0.64	378.9	479.2	13.1	1213	14045	0.00	2.83	0.00	0.000	6	0.000	0.031	3063	2774	1516
14365	0.64	378.9	432.8	15.8	1243	14366	0.00	0.00	0.00	0.000	6	0.000	0.000	3062	2775	1516
14685	0.64	378.9	382.7	15.0	1273	14690	0.00	2.90	0.00	0.000	4	0.000	0.045	3063	1334	1516
14717	0.64	378.9	377.7	14.3	1275	14724	0.00	2.78	0.00	0.000	6	0.000	0.031	3063	2762	1515
15049	0.64	378.9	333.5	13.4	1317	15055	0.00	0.00	0.00	0.000	6	0.000	0.000	3063	2762	1516
15387	0.64	378.9	293.8	10.9	1378	15392	0.00	0.00	0.00	0.000	6	0.000	0.000	3063	2762	1515
15725	0.64	378.9	256.8	11.2	1439	15731	0.00	2.85	0.00	0.000	4	0.000	0.044	3063	1336	1515
15770	0.68	378.9	251.8	11.4	1447	15776	0.00	2.75	0.00	0.000	6	0.000	0.031	3063	2754	1515
16110	0.68	378.9	214.0	10.9	1508	16118	0.00	0.00	0.00	0.000	6	0.000	0.000	3063	2755	1515
16452	0.68	378.9	167.1	14.3	1569	16459	0.00	2.80	0.00	0.000	4	0.000	0.044	3062	1344	1515
16488	0.72	378.9	161.9	14.7	1575	16495	0.00	2.72	0.00	0.000	6	0.000	0.030	3063	2755	1515
16824	0.72	378.9	121.3	10.2	1636	16831	0.00	0.00	0.00	0.000	6	0.000	0.000	3062	2755	1515
17158	0.82	460.1	91.9	7.2	1697	17245	0.15	0.00	79.18	1.012	6	0.055	0.000	3098	2755	1194
17570	0.75	460.1	31.3	16.9	1771	17577	0.00	0.00	0.00	0.000	6	0.000	0.000	3098	2756	1187
17705	0.69	460.1	9.3	14.6	1796	17713	0.15	0.00	0.00	0.000	6	0.105	0.000	3072	2755	1186
17766	end climb: SURFACE_DEPTH_REACHED
state	17766	begin surface coast
17783	end surface coast: CONTROL_FINISHED_OK
state	17783	begin surface