Glider dive log

NAB Apr08 * SG142 * Dive index * Mission links * Dive 145 * 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 145 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 636.79877 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 25 DEEPGLIDER 0

SURFACE_URGENCY 0 COMM_SEQ 0 R_STBD_OVSHOOT 24 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 -15660.111 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 636.79877

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 -15660.111

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 25 USE_ICE 0

DEEPGLIDER 0 MAX_BUOY 200 R_STBD_OVSHOOT 24 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 145 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 075256,6048.105,-2700.035,37,1.6,37,-18.6 TGT_NAME HEADING

_CALLS 5 TGT_LATLONG 6041.260,-2704.839

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 0.58 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -41.7 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 081303,6048.201,-2700.789,13,1.8,19,-18.6 MHEAD_RNG_PITCHd_Wd 248.6,20000,-14.9,-10.000

SPEED_LIMITS 0.173,0.295 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.0,1.026325 XPDR_PINGS 854

SM_CCo 17526,130.55,0.940,0,0,474,636.80 _24V_AH 19.5,50.452

SM_GC 0.53,0.00,0.00,130.55,0.000,0.000,0.940,1433,2291,474,-6.84,-0.28,636.80 _10V_AH 9.7,38.427

IRIDIUM_FIX 6024.11,-2705.46,300797,080824 DATA_FILE_SIZE 129488,1760

TT8_MAMPS 0.026845 CAP_FILE_SIZE 164621,0

HUMID 1726 CFSIZE 260165632,242507776

INTERNAL_PRESSURE 8.81915 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 11.20 GPS 050508,130916,6046.057,-2709.751,40,99.0,59,-18.6

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 252 118.71 SBE_CT 1228 24 575.05

Roll_motor 121 117 278.55 SBE_O2 1262 19 467.79

VBD_pump_during_apogee 733 1614 23078.93 Optode 642 33 413.26

VBD_pump_during_surface 130 939 2391.90 WL_BB2F 865 105 1772.99

VBD_valve 0 0 0.00 WL_BBFL2VMT 1595 105 3266.22

Iridium_during_init 150 103 301.98 nil 0 0 0.00

Iridium_during_connect 302 160 944.95 nil 0 0 0.00

Iridium_during_xfer 354 223 1540.50

Transponder_ping 213 420 1748.57

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 22 50 10.98

TT8 2767 19 531.57

LPSleep 10096 2 214.47

TT8_Active 935 19 179.74

TT8_Sampling 3928 39 1516.48

TT8_CF8 1120 45 497.59

TT8_Kalman 0 0 0.00

Analog_circuits 2448 12 285.01

GPS_charging 0 0 0.00

Compass 3923 8 304.50

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 -0.86 -194.7 0.0 0.0 0 174 0.00 0.00 -144.45 0.000 2 0.000 0.000 1433 2287 3814

176 -0.86 -194.7 4.0 -6.3 20 201 11.68 2.83 -1.27 0.000 4 0.252 0.052 2724 897 3867

437 -0.79 -194.7 47.1 -16.0 68 445 0.08 2.75 0.00 0.000 6 0.125 0.030 2738 2302 3868

578 -0.75 -194.7 65.3 -13.3 93 584 0.00 2.83 0.00 0.000 4 0.000 0.046 2738 884 3868

732 -0.75 -194.7 83.5 -10.7 121 738 0.00 2.75 0.00 0.000 6 0.000 0.030 2738 2309 3868

1061 -0.75 -194.7 123.1 -12.3 182 1069 0.00 2.85 0.00 0.000 4 0.000 0.047 2738 897 3868

1168 -0.75 -194.7 136.5 -12.7 201 1175 0.00 2.70 0.00 0.000 6 0.000 0.030 2738 2301 3868

1504 -0.75 -194.7 178.7 -12.5 262 1510 0.00 2.83 0.00 0.000 4 0.000 0.047 2738 885 3868

1569 -0.75 -194.7 186.7 -12.5 273 1575 0.00 2.70 0.00 0.000 6 0.000 0.030 2738 2291 3868

1908 -0.75 -194.7 229.5 -12.2 334 1913 0.00 0.00 0.00 0.000 6 0.000 0.000 2738 2291 3868

2244 -0.75 -194.7 270.1 -12.2 395 2250 0.00 2.80 0.00 0.000 4 0.000 0.047 2738 885 3868

2304 -0.75 -194.7 276.9 -12.1 405 2310 0.00 2.67 0.00 0.000 6 0.000 0.030 2738 2280 3868

2642 -0.75 -194.7 318.7 -12.5 466 2648 0.00 0.00 0.00 0.000 6 0.000 0.000 2738 2280 3868

2983 -0.75 -194.7 358.9 -11.5 521 2984 0.00 0.00 0.00 0.000 6 0.000 0.000 2738 2281 3868

3301 -0.75 -194.7 393.4 -10.0 551 3306 0.00 2.78 0.00 0.000 4 0.000 0.047 2738 885 3868

3356 -0.75 -194.7 399.0 -9.5 555 3363 0.00 2.67 0.00 0.000 6 0.000 0.029 2738 2282 3868

3682 -0.75 -194.7 424.2 -6.5 586 3684 0.00 0.00 0.00 0.000 6 0.000 0.000 2738 2283 3868

4003 -0.75 -194.7 442.2 -5.3 616 4008 0.00 2.78 0.00 0.000 4 0.000 0.047 2738 890 3868

4054 -0.75 -194.7 445.2 -5.9 620 4058 0.00 2.65 0.00 0.000 6 0.000 0.031 2738 2269 3868

4380 -0.75 -194.7 470.5 -9.8 650 4381 0.00 0.00 0.00 0.000 6 0.000 0.000 2738 2270 3868

4697 -0.75 -194.7 509.7 -14.6 680 4698 0.00 0.00 0.00 0.000 6 0.000 0.000 2738 2270 3868

5017 -0.75 -194.7 562.2 -17.5 710 5018 0.00 0.00 0.00 0.000 6 0.000 0.000 2738 2270 3868

5341 -0.75 -194.7 614.9 -14.0 736 5342 0.00 0.00 0.00 0.000 6 0.000 0.000 2738 2270 3867

5650 -0.75 -194.7 644.9 -7.5 751 5652 0.00 0.00 0.00 0.000 6 0.000 0.000 2738 2271 3867

5960 -0.75 -194.7 658.9 -4.6 766 5961 0.00 0.00 0.00 0.000 6 0.000 0.000 2738 2270 3867

6269 -0.75 -194.7 687.3 -12.6 781 6270 0.00 0.00 0.00 0.000 6 0.000 0.000 2738 2270 3867

6578 -0.75 -194.7 739.4 -18.0 796 6579 0.00 0.00 0.00 0.000 6 0.000 0.000 2738 2271 3867

6887 -0.75 -194.7 783.5 -11.6 811 6892 0.00 3.05 0.00 0.000 4 0.000 0.092 2738 899 3867

6936 -0.75 -194.7 788.9 -10.8 813 6941 0.00 2.88 0.00 0.000 6 0.000 0.066 2738 2265 3866

7252 -0.75 -194.7 812.8 -6.9 828 7257 0.00 3.22 0.00 0.000 4 0.000 0.097 2738 3711 3866

7279 -0.75 -194.7 814.8 -7.5 829 7284 0.00 3.12 0.00 0.000 6 0.000 0.081 2738 2283 3866

7595 -0.75 -194.7 842.5 -9.8 844 7600 0.00 3.28 0.00 0.000 4 0.000 0.117 2738 885 3866

7649 -0.75 -194.7 848.3 -10.6 846 7656 0.00 2.70 0.00 0.000 6 0.000 0.031 2738 2279 3866

7965 -0.75 -194.7 882.5 -11.6 862 7967 0.00 0.00 0.00 0.000 6 0.000 0.000 2738 2282 3865

8274 -0.75 -194.7 915.9 -10.3 877 8275 0.00 0.00 0.00 0.000 6 0.000 0.000 2738 2281 3865

8583 -0.75 -194.7 946.6 -9.6 892 8585 0.00 0.00 0.00 0.000 6 0.000 0.000 2738 2281 3865

8893 -0.75 -194.7 979.2 -10.5 907 8894 0.00 0.00 0.00 0.000 6 0.000 0.000 2738 2282 3864

9014 end dive: TARGET_DEPTH_EXCEEDED

state 9014 begin apogee

9020 -0.21 0.0 992.1 10.3 913 9229 0.80 0.00 205.02 1.615 6 0.117 0.000 2870 2750 3071

9229 end apogee: CONTROL_FINISHED_OK

state 9229 begin climb

9232 0.86 194.7 1000.6 0.0 923 9457 1.38 2.62 212.62 1.559 4 0.078 0.058 3099 3897 2276

9580 0.69 194.7 966.6 13.4 939 9585 0.17 2.40 0.00 0.000 6 0.130 0.035 3076 2740 2274

9896 0.58 194.7 924.2 14.5 954 9901 0.15 2.40 0.00 0.000 4 0.125 0.053 3051 3895 2273

9962 0.53 194.7 914.9 13.1 957 9966 0.00 2.25 0.00 0.000 6 0.000 0.033 3051 2760 2273

10289 0.47 194.7 874.5 12.1 973 10291 0.17 0.00 0.00 0.000 6 0.117 0.000 3025 2757 2272

10598 0.59 294.9 849.7 6.5 988 10704 0.12 0.00 103.53 1.503 6 0.064 0.000 3048 2754 1869

11008 0.59 294.9 809.3 10.9 1008 11009 0.00 0.00 0.00 0.000 6 0.000 0.000 3048 2753 1861

11317 0.59 294.9 766.1 15.6 1023 11318 0.00 0.00 0.00 0.000 6 0.000 0.000 3048 2752 1860

11626 0.59 294.9 722.7 12.6 1038 11631 0.00 2.88 0.00 0.000 4 0.000 0.049 3048 1334 1859

11652 0.59 294.9 719.5 10.7 1039 11657 0.00 2.85 0.00 0.000 6 0.000 0.038 3048 2772 1858

11974 0.65 343.2 689.3 8.3 1055 12025 0.00 0.00 49.10 1.401 6 0.000 0.000 3048 2772 1671

12325 0.75 427.6 666.5 7.1 1072 12421 0.17 3.08 89.90 1.387 4 0.055 0.047 3086 1340 1326

12448 0.71 427.6 650.7 14.1 1077 12453 0.00 2.90 0.00 0.000 6 0.000 0.032 3086 2747 1323

12769 0.64 427.6 600.3 17.4 1093 12774 0.15 2.33 0.00 0.000 4 0.107 0.050 3064 3893 1318

12808 0.64 427.6 594.4 13.5 1096 12812 0.00 2.25 0.00 0.000 6 0.000 0.031 3064 2749 1317

13133 0.64 427.6 556.1 11.4 1126 13137 0.00 2.85 0.00 0.000 4 0.000 0.048 3064 1334 1315

13183 0.69 427.6 550.6 10.7 1130 13188 0.00 2.78 0.00 0.000 6 0.000 0.031 3064 2745 1314

13507 0.69 427.6 516.3 10.3 1160 13508 0.00 0.00 0.00 0.000 6 0.000 0.000 3064 2745 1314

13826 0.69 427.6 483.9 10.2 1190 13830 0.00 2.85 0.00 0.000 4 0.000 0.046 3064 1332 1314

13853 0.73 427.6 481.1 10.1 1192 13858 0.00 2.75 0.00 0.000 6 0.000 0.031 3064 2740 1313

14178 0.73 427.6 448.0 10.5 1222 14179 0.00 0.00 0.00 0.000 6 0.000 0.000 3064 2741 1313

14496 0.73 427.6 412.8 11.5 1252 14500 0.00 2.83 0.00 0.000 4 0.000 0.045 3064 1336 1313

14535 0.78 427.6 408.2 11.6 1255 14540 0.12 2.70 0.00 0.000 6 0.056 0.031 3091 2724 1312

14859 0.72 427.6 352.1 17.6 1285 14863 0.00 2.33 0.00 0.000 4 0.000 0.048 3091 3899 1312

14897 0.72 427.6 345.3 17.8 1290 14904 0.00 2.30 0.00 0.000 6 0.000 0.031 3091 2708 1312

15237 0.65 427.6 288.6 16.9 1351 15243 0.15 0.00 0.00 0.000 6 0.107 0.000 3065 2708 1312

15577 0.69 427.6 250.4 10.5 1412 15584 0.00 0.00 0.00 0.000 6 0.000 0.000 3065 2708 1312

15920 0.74 427.6 214.8 10.4 1473 15926 0.00 2.70 0.00 0.000 4 0.000 0.045 3065 1342 1312

15956 0.80 427.6 211.2 10.4 1479 15963 0.15 2.67 0.00 0.000 6 0.050 0.029 3097 2728 1312

16297 0.72 427.6 160.4 14.3 1540 16305 0.00 2.33 0.00 0.000 4 0.000 0.048 3097 3888 1311

16344 0.72 427.6 152.9 14.2 1548 16352 0.00 2.28 0.00 0.000 6 0.000 0.032 3098 2724 1311

16679 0.65 427.6 102.0 14.4 1609 16685 0.17 0.00 0.00 0.000 6 0.107 0.000 3067 2722 1311

17010 0.79 502.0 69.2 7.4 1670 17093 0.12 2.90 72.88 1.001 4 0.058 0.047 3092 1339 1023

17128 0.79 502.0 54.4 11.7 1689 17135 0.00 2.80 0.00 0.000 6 0.000 0.029 3092 2741 1020

17451 0.79 502.0 8.2 15.7 1750 17459 0.00 0.00 0.00 0.000 6 0.000 0.000 3092 2741 1017

17490 end climb: SURFACE_DEPTH_REACHED

state 17491 begin surface coast

17508 end surface coast: CONTROL_FINISHED_OK

state 17508 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	145	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	636.79877	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	25	DEEPGLIDER	0
SURFACE_URGENCY	0	COMM_SEQ	0	R_STBD_OVSHOOT	24	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	-15660.111	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	075256,6048.105,-2700.035,37,1.6,37,-18.6	TGT_NAME	HEADING
_CALLS	5	TGT_LATLONG	6041.260,-2704.839
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	0.58	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-41.7	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	081303,6048.201,-2700.789,13,1.8,19,-18.6	MHEAD_RNG_PITCHd_Wd	248.6,20000,-14.9,-10.000
SPEED_LIMITS	0.173,0.295	D_GRID	990

FINISH	0.0,1.026325	XPDR_PINGS	854
SM_CCo	17526,130.55,0.940,0,0,474,636.80	_24V_AH	19.5,50.452
SM_GC	0.53,0.00,0.00,130.55,0.000,0.000,0.940,1433,2291,474,-6.84,-0.28,636.80	_10V_AH	9.7,38.427
IRIDIUM_FIX	6024.11,-2705.46,300797,080824	DATA_FILE_SIZE	129488,1760
TT8_MAMPS	0.026845	CAP_FILE_SIZE	164621,0
HUMID	1726	CFSIZE	260165632,242507776
INTERNAL_PRESSURE	8.81915	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	11.20	GPS	050508,130916,6046.057,-2709.751,40,99.0,59,-18.6

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	252	118.71	SBE_CT	1228	24	575.05
Roll_motor	121	117	278.55	SBE_O2	1262	19	467.79
VBD_pump_during_apogee	733	1614	23078.93	Optode	642	33	413.26
VBD_pump_during_surface	130	939	2391.90	WL_BB2F	865	105	1772.99
VBD_valve	0	0	0.00	WL_BBFL2VMT	1595	105	3266.22
Iridium_during_init	150	103	301.98	nil	0	0	0.00
Iridium_during_connect	302	160	944.95	nil	0	0	0.00
Iridium_during_xfer	354	223	1540.50
Transponder_ping	213	420	1748.57
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	22	50	10.98
TT8	2767	19	531.57
LPSleep	10096	2	214.47
TT8_Active	935	19	179.74
TT8_Sampling	3928	39	1516.48
TT8_CF8	1120	45	497.59
TT8_Kalman	0	0	0.00
Analog_circuits	2448	12	285.01
GPS_charging	0	0	0.00
Compass	3923	8	304.50
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	-0.86	-194.7	0.0	0.0	0	174	0.00	0.00	-144.45	0.000	2	0.000	0.000	1433	2287	3814
176	-0.86	-194.7	4.0	-6.3	20	201	11.68	2.83	-1.27	0.000	4	0.252	0.052	2724	897	3867
437	-0.79	-194.7	47.1	-16.0	68	445	0.08	2.75	0.00	0.000	6	0.125	0.030	2738	2302	3868
578	-0.75	-194.7	65.3	-13.3	93	584	0.00	2.83	0.00	0.000	4	0.000	0.046	2738	884	3868
732	-0.75	-194.7	83.5	-10.7	121	738	0.00	2.75	0.00	0.000	6	0.000	0.030	2738	2309	3868
1061	-0.75	-194.7	123.1	-12.3	182	1069	0.00	2.85	0.00	0.000	4	0.000	0.047	2738	897	3868
1168	-0.75	-194.7	136.5	-12.7	201	1175	0.00	2.70	0.00	0.000	6	0.000	0.030	2738	2301	3868
1504	-0.75	-194.7	178.7	-12.5	262	1510	0.00	2.83	0.00	0.000	4	0.000	0.047	2738	885	3868
1569	-0.75	-194.7	186.7	-12.5	273	1575	0.00	2.70	0.00	0.000	6	0.000	0.030	2738	2291	3868
1908	-0.75	-194.7	229.5	-12.2	334	1913	0.00	0.00	0.00	0.000	6	0.000	0.000	2738	2291	3868
2244	-0.75	-194.7	270.1	-12.2	395	2250	0.00	2.80	0.00	0.000	4	0.000	0.047	2738	885	3868
2304	-0.75	-194.7	276.9	-12.1	405	2310	0.00	2.67	0.00	0.000	6	0.000	0.030	2738	2280	3868
2642	-0.75	-194.7	318.7	-12.5	466	2648	0.00	0.00	0.00	0.000	6	0.000	0.000	2738	2280	3868
2983	-0.75	-194.7	358.9	-11.5	521	2984	0.00	0.00	0.00	0.000	6	0.000	0.000	2738	2281	3868
3301	-0.75	-194.7	393.4	-10.0	551	3306	0.00	2.78	0.00	0.000	4	0.000	0.047	2738	885	3868
3356	-0.75	-194.7	399.0	-9.5	555	3363	0.00	2.67	0.00	0.000	6	0.000	0.029	2738	2282	3868
3682	-0.75	-194.7	424.2	-6.5	586	3684	0.00	0.00	0.00	0.000	6	0.000	0.000	2738	2283	3868
4003	-0.75	-194.7	442.2	-5.3	616	4008	0.00	2.78	0.00	0.000	4	0.000	0.047	2738	890	3868
4054	-0.75	-194.7	445.2	-5.9	620	4058	0.00	2.65	0.00	0.000	6	0.000	0.031	2738	2269	3868
4380	-0.75	-194.7	470.5	-9.8	650	4381	0.00	0.00	0.00	0.000	6	0.000	0.000	2738	2270	3868
4697	-0.75	-194.7	509.7	-14.6	680	4698	0.00	0.00	0.00	0.000	6	0.000	0.000	2738	2270	3868
5017	-0.75	-194.7	562.2	-17.5	710	5018	0.00	0.00	0.00	0.000	6	0.000	0.000	2738	2270	3868
5341	-0.75	-194.7	614.9	-14.0	736	5342	0.00	0.00	0.00	0.000	6	0.000	0.000	2738	2270	3867
5650	-0.75	-194.7	644.9	-7.5	751	5652	0.00	0.00	0.00	0.000	6	0.000	0.000	2738	2271	3867
5960	-0.75	-194.7	658.9	-4.6	766	5961	0.00	0.00	0.00	0.000	6	0.000	0.000	2738	2270	3867
6269	-0.75	-194.7	687.3	-12.6	781	6270	0.00	0.00	0.00	0.000	6	0.000	0.000	2738	2270	3867
6578	-0.75	-194.7	739.4	-18.0	796	6579	0.00	0.00	0.00	0.000	6	0.000	0.000	2738	2271	3867
6887	-0.75	-194.7	783.5	-11.6	811	6892	0.00	3.05	0.00	0.000	4	0.000	0.092	2738	899	3867
6936	-0.75	-194.7	788.9	-10.8	813	6941	0.00	2.88	0.00	0.000	6	0.000	0.066	2738	2265	3866
7252	-0.75	-194.7	812.8	-6.9	828	7257	0.00	3.22	0.00	0.000	4	0.000	0.097	2738	3711	3866
7279	-0.75	-194.7	814.8	-7.5	829	7284	0.00	3.12	0.00	0.000	6	0.000	0.081	2738	2283	3866
7595	-0.75	-194.7	842.5	-9.8	844	7600	0.00	3.28	0.00	0.000	4	0.000	0.117	2738	885	3866
7649	-0.75	-194.7	848.3	-10.6	846	7656	0.00	2.70	0.00	0.000	6	0.000	0.031	2738	2279	3866
7965	-0.75	-194.7	882.5	-11.6	862	7967	0.00	0.00	0.00	0.000	6	0.000	0.000	2738	2282	3865
8274	-0.75	-194.7	915.9	-10.3	877	8275	0.00	0.00	0.00	0.000	6	0.000	0.000	2738	2281	3865
8583	-0.75	-194.7	946.6	-9.6	892	8585	0.00	0.00	0.00	0.000	6	0.000	0.000	2738	2281	3865
8893	-0.75	-194.7	979.2	-10.5	907	8894	0.00	0.00	0.00	0.000	6	0.000	0.000	2738	2282	3864
9014	end dive: TARGET_DEPTH_EXCEEDED
state	9014	begin apogee
9020	-0.21	0.0	992.1	10.3	913	9229	0.80	0.00	205.02	1.615	6	0.117	0.000	2870	2750	3071
9229	end apogee: CONTROL_FINISHED_OK
state	9229	begin climb
9232	0.86	194.7	1000.6	0.0	923	9457	1.38	2.62	212.62	1.559	4	0.078	0.058	3099	3897	2276
9580	0.69	194.7	966.6	13.4	939	9585	0.17	2.40	0.00	0.000	6	0.130	0.035	3076	2740	2274
9896	0.58	194.7	924.2	14.5	954	9901	0.15	2.40	0.00	0.000	4	0.125	0.053	3051	3895	2273
9962	0.53	194.7	914.9	13.1	957	9966	0.00	2.25	0.00	0.000	6	0.000	0.033	3051	2760	2273
10289	0.47	194.7	874.5	12.1	973	10291	0.17	0.00	0.00	0.000	6	0.117	0.000	3025	2757	2272
10598	0.59	294.9	849.7	6.5	988	10704	0.12	0.00	103.53	1.503	6	0.064	0.000	3048	2754	1869
11008	0.59	294.9	809.3	10.9	1008	11009	0.00	0.00	0.00	0.000	6	0.000	0.000	3048	2753	1861
11317	0.59	294.9	766.1	15.6	1023	11318	0.00	0.00	0.00	0.000	6	0.000	0.000	3048	2752	1860
11626	0.59	294.9	722.7	12.6	1038	11631	0.00	2.88	0.00	0.000	4	0.000	0.049	3048	1334	1859
11652	0.59	294.9	719.5	10.7	1039	11657	0.00	2.85	0.00	0.000	6	0.000	0.038	3048	2772	1858
11974	0.65	343.2	689.3	8.3	1055	12025	0.00	0.00	49.10	1.401	6	0.000	0.000	3048	2772	1671
12325	0.75	427.6	666.5	7.1	1072	12421	0.17	3.08	89.90	1.387	4	0.055	0.047	3086	1340	1326
12448	0.71	427.6	650.7	14.1	1077	12453	0.00	2.90	0.00	0.000	6	0.000	0.032	3086	2747	1323
12769	0.64	427.6	600.3	17.4	1093	12774	0.15	2.33	0.00	0.000	4	0.107	0.050	3064	3893	1318
12808	0.64	427.6	594.4	13.5	1096	12812	0.00	2.25	0.00	0.000	6	0.000	0.031	3064	2749	1317
13133	0.64	427.6	556.1	11.4	1126	13137	0.00	2.85	0.00	0.000	4	0.000	0.048	3064	1334	1315
13183	0.69	427.6	550.6	10.7	1130	13188	0.00	2.78	0.00	0.000	6	0.000	0.031	3064	2745	1314
13507	0.69	427.6	516.3	10.3	1160	13508	0.00	0.00	0.00	0.000	6	0.000	0.000	3064	2745	1314
13826	0.69	427.6	483.9	10.2	1190	13830	0.00	2.85	0.00	0.000	4	0.000	0.046	3064	1332	1314
13853	0.73	427.6	481.1	10.1	1192	13858	0.00	2.75	0.00	0.000	6	0.000	0.031	3064	2740	1313
14178	0.73	427.6	448.0	10.5	1222	14179	0.00	0.00	0.00	0.000	6	0.000	0.000	3064	2741	1313
14496	0.73	427.6	412.8	11.5	1252	14500	0.00	2.83	0.00	0.000	4	0.000	0.045	3064	1336	1313
14535	0.78	427.6	408.2	11.6	1255	14540	0.12	2.70	0.00	0.000	6	0.056	0.031	3091	2724	1312
14859	0.72	427.6	352.1	17.6	1285	14863	0.00	2.33	0.00	0.000	4	0.000	0.048	3091	3899	1312
14897	0.72	427.6	345.3	17.8	1290	14904	0.00	2.30	0.00	0.000	6	0.000	0.031	3091	2708	1312
15237	0.65	427.6	288.6	16.9	1351	15243	0.15	0.00	0.00	0.000	6	0.107	0.000	3065	2708	1312
15577	0.69	427.6	250.4	10.5	1412	15584	0.00	0.00	0.00	0.000	6	0.000	0.000	3065	2708	1312
15920	0.74	427.6	214.8	10.4	1473	15926	0.00	2.70	0.00	0.000	4	0.000	0.045	3065	1342	1312
15956	0.80	427.6	211.2	10.4	1479	15963	0.15	2.67	0.00	0.000	6	0.050	0.029	3097	2728	1312
16297	0.72	427.6	160.4	14.3	1540	16305	0.00	2.33	0.00	0.000	4	0.000	0.048	3097	3888	1311
16344	0.72	427.6	152.9	14.2	1548	16352	0.00	2.28	0.00	0.000	6	0.000	0.032	3098	2724	1311
16679	0.65	427.6	102.0	14.4	1609	16685	0.17	0.00	0.00	0.000	6	0.107	0.000	3067	2722	1311
17010	0.79	502.0	69.2	7.4	1670	17093	0.12	2.90	72.88	1.001	4	0.058	0.047	3092	1339	1023
17128	0.79	502.0	54.4	11.7	1689	17135	0.00	2.80	0.00	0.000	6	0.000	0.029	3092	2741	1020
17451	0.79	502.0	8.2	15.7	1750	17459	0.00	0.00	0.00	0.000	6	0.000	0.000	3092	2741	1017
17490	end climb: SURFACE_DEPTH_REACHED
state	17491	begin surface coast
17508	end surface coast: CONTROL_FINISHED_OK
state	17508	begin surface