Glider dive log

NAB Apr08 * SG143 * Dive index * Mission links * Dive 193 * 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 220 PITCH_ADJ_GAIN 0.02 ALTIM_BOTTOM_TURN_MARGIN 0

DIVE 193 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 200 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 17 DEEPGLIDER 0

SURFACE_URGENCY 0 COMM_SEQ 0 R_STBD_OVSHOOT 34 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 -8929.3271 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 200

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 -8929.3271

CAPUPLOAD 0 HEADING 220 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 17 USE_ICE 0

DEEPGLIDER 0 MAX_BUOY 200 R_STBD_OVSHOOT 34 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 193 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 040255,6121.018,-2545.080,41,1.4,41,-18.2 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG 6112.692,-2548.512

_XMS_NAKs 1 TGT_RADIUS 1852.000

_XMS_TOUTs 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.04 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -53.0 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 040935,6120.965,-2545.169,13,2.2,32,-18.2 MHEAD_RNG_PITCHd_Wd 238.2,20000,-15.7,-10.000

SPEED_LIMITS 0.173,0.296 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.3,1.027251 XPDR_PINGS 22

SM_CCo 17166,0.00,0.000,0,0,1418,405.48 _24V_AH 19.2,64.040

SM_GC 0.97,7.22,0.00,0.00,0.041,0.000,0.000,1470,2312,1418,-6.08,0.51,405.48 _10V_AH 9.8,45.363

IRIDIUM_FIX 6059.36,-2541.70,060897,232354 DATA_FILE_SIZE 123208,1739

TT8_MAMPS 0.021476 CAP_FILE_SIZE 152618,0

HUMID 1734 CFSIZE 260165632,238219264

INTERNAL_PRESSURE 8.14484 ERRORS 0,0,0,0,0,0,0,0,0,0,0,1,0,0,0

TCM_TEMP 16.70 GPS 130508,085707,6116.748,-2550.602,34,1.2,34,-18.2

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 253 98.71 SBE_CT 1317 24 606.92

Roll_motor 115 70 156.25 SBE_O2 1214 19 442.95

VBD_pump_during_apogee 617 1433 17002.04 Optode 634 33 402.02

VBD_pump_during_surface 0 0 0.00 WL_BB2F 904 105 1824.20

VBD_valve 0 0 0.00 WL_BBFL2VMT 0 105 0.00

Iridium_during_init 23 103 46.91 nil 0 0 0.00

Iridium_during_connect 32 160 99.35 nil 0 0 0.00

Iridium_during_xfer 208 223 891.66

Transponder_ping 5 420 44.35

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 34 50 17.01

TT8 2734 19 530.63

LPSleep 10543 2 226.28

TT8_Active 696 19 135.11

TT8_Sampling 3061 39 1194.12

TT8_CF8 517 45 232.18

TT8_Kalman 0 0 0.00

Analog_circuits 2142 12 252.01

GPS_charging 0 0 0.00

Compass 3019 8 236.74

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

23 end surface: CONTROL_FINISHED_OK

state 23 begin dive

26 -0.82 -194.7 0.0 0.0 0 122 0.00 0.00 -93.05 0.000 2 0.000 0.000 1465 2316 3353

125 -0.82 -194.7 3.2 -5.3 17 155 10.12 2.85 -12.80 0.000 4 0.254 0.068 2614 886 3865

296 -0.77 -194.7 30.5 -14.2 47 302 0.00 2.75 0.00 0.000 6 0.000 0.052 2613 2277 3866

438 -0.67 -194.7 52.3 -15.9 72 444 0.20 0.00 0.00 0.000 6 0.147 0.000 2645 2277 3867

781 -0.67 -194.7 96.3 -13.2 133 786 0.00 0.00 0.00 0.000 6 0.000 0.000 2645 2277 3867

1123 -0.67 -194.7 140.7 -12.6 194 1129 0.00 0.00 0.00 0.000 6 0.000 0.000 2646 2277 3867

1465 -0.67 -194.7 186.5 -14.2 255 1470 0.00 0.00 0.00 0.000 6 0.000 0.000 2646 2277 3867

1808 -0.67 -194.7 233.7 -12.8 316 1814 0.00 0.00 0.00 0.000 6 0.000 0.000 2645 2277 3867

2151 -0.67 -194.7 276.8 -12.3 377 2157 0.00 0.00 0.00 0.000 6 0.000 0.000 2645 2277 3867

2494 -0.67 -194.7 318.5 -11.8 438 2499 0.00 0.00 0.00 0.000 6 0.000 0.000 2645 2277 3867

2837 -0.67 -194.7 360.5 -12.6 492 2838 0.00 0.00 0.00 0.000 6 0.000 0.000 2646 2277 3867

3156 -0.67 -194.7 402.4 -13.5 522 3157 0.00 0.00 0.00 0.000 6 0.000 0.000 2645 2277 3867

3476 -0.67 -194.7 446.6 -14.4 552 3477 0.00 0.00 0.00 0.000 6 0.000 0.000 2645 2277 3867

3795 -0.67 -194.7 492.8 -14.4 582 3796 0.00 0.00 0.00 0.000 6 0.000 0.000 2646 2277 3867

4111 -0.67 -194.7 538.4 -14.2 612 4112 0.00 0.00 0.00 0.000 6 0.000 0.000 2645 2278 3867

4430 -0.67 -194.7 580.6 -12.7 642 4431 0.00 0.00 0.00 0.000 6 0.000 0.000 2646 2278 3867

4755 -0.67 -194.7 619.5 -11.5 665 4756 0.00 0.00 0.00 0.000 6 0.000 0.000 2645 2278 3867

5063 -0.67 -194.7 655.1 -12.0 680 5064 0.00 0.00 0.00 0.000 6 0.000 0.000 2645 2278 3866

5373 -0.67 -194.7 695.0 -13.3 695 5374 0.00 0.00 0.00 0.000 6 0.000 0.000 2645 2279 3866

5682 -0.67 -194.7 735.5 -12.9 710 5683 0.00 0.00 0.00 0.000 6 0.000 0.000 2645 2281 3866

5991 -0.67 -194.7 776.5 -13.3 725 5992 0.00 0.00 0.00 0.000 6 0.000 0.000 2645 2281 3866

6301 -0.67 -194.7 812.9 -11.5 740 6302 0.00 0.00 0.00 0.000 6 0.000 0.000 2646 2281 3866

6609 -0.67 -194.7 846.1 -10.2 755 6611 0.00 0.00 0.00 0.000 6 0.000 0.000 2646 2281 3866

6919 -0.67 -194.7 878.7 -10.4 770 6923 0.00 2.90 0.00 0.000 4 0.000 0.067 2645 3706 3866

6945 -0.67 -194.7 881.5 -11.4 771 6950 0.00 2.78 0.00 0.000 6 0.000 0.052 2645 2308 3866

7260 -0.67 -194.7 915.7 -11.2 786 7265 0.00 2.90 0.00 0.000 4 0.000 0.068 2645 876 3865

7286 -0.67 -194.7 918.7 -12.3 787 7291 0.00 2.83 0.00 0.000 6 0.000 0.050 2645 2314 3865

7608 -0.67 -194.7 953.9 -10.4 803 7609 0.00 0.00 0.00 0.000 6 0.000 0.000 2645 2315 3865

7917 -0.67 -194.7 984.8 -9.6 818 7922 0.00 2.92 0.00 0.000 4 0.000 0.067 2645 875 3865

7962 -0.73 -194.7 989.0 -9.6 820 7967 0.00 2.83 0.00 0.000 6 0.000 0.051 2645 2308 3864

7971 end dive: TARGET_DEPTH_EXCEEDED

state 7971 begin apogee

7976 -0.19 0.0 990.1 9.0 821 8180 0.65 0.00 200.35 1.434 6 0.122 0.000 2754 2033 3071

8181 end apogee: CONTROL_FINISHED_OK

state 8181 begin climb

8183 0.82 194.7 996.0 0.0 831 8401 1.25 3.20 207.12 1.356 4 0.087 0.070 2970 647 2277

8507 0.71 194.7 965.4 13.0 846 8512 0.00 2.92 0.00 0.000 6 0.000 0.046 2970 2058 2274

8822 0.58 194.7 925.4 12.4 861 8828 0.25 2.90 0.00 0.000 4 0.135 0.061 2929 3468 2272

8872 0.58 194.7 920.0 10.1 863 8877 0.00 2.85 0.00 0.000 6 0.000 0.052 2930 2061 2271

9188 0.53 194.7 887.2 11.0 878 9192 0.00 2.85 0.00 0.000 4 0.000 0.059 2930 3463 2271

9236 0.53 194.7 881.4 12.0 880 9241 0.00 2.78 0.00 0.000 6 0.000 0.052 2930 2080 2271

9559 0.49 204.0 848.1 9.7 896 9574 0.12 2.83 9.68 1.252 4 0.131 0.060 2912 3467 2240

9601 0.55 248.8 844.2 8.5 897 9653 0.00 2.75 46.38 1.341 6 0.000 0.051 2911 2095 2056

9964 0.66 341.4 819.0 6.8 914 10067 0.15 3.15 94.00 1.309 4 0.069 0.071 2945 640 1678

10139 0.66 341.4 801.5 10.1 922 10143 0.00 3.00 0.00 0.000 6 0.000 0.046 2945 2123 1673

10466 0.66 341.4 766.0 11.0 938 10471 0.00 3.10 0.00 0.000 4 0.000 0.071 2945 632 1670

10565 0.66 341.4 754.8 10.5 942 10572 0.00 2.92 0.00 0.000 6 0.000 0.047 2945 2118 1671

10881 0.66 341.4 720.1 11.4 958 10885 0.00 2.70 0.00 0.000 4 0.000 0.060 2945 3461 1670

10907 0.66 341.4 716.9 11.7 959 10912 0.00 2.67 0.00 0.000 6 0.000 0.051 2946 2117 1668

11222 0.66 341.4 678.7 13.1 974 11227 0.00 3.00 0.00 0.000 4 0.000 0.070 2945 634 1668

11248 0.66 341.4 674.9 14.2 975 11253 0.00 2.90 0.00 0.000 6 0.000 0.044 2945 2127 1668

11570 0.66 341.4 634.4 12.3 991 11574 0.00 2.67 0.00 0.000 4 0.000 0.057 2945 3472 1668

11596 0.66 341.4 631.1 12.1 992 11600 0.00 2.67 0.00 0.000 6 0.000 0.048 2948 2113 1667

11918 0.66 341.4 596.4 10.7 1009 11919 0.00 0.00 0.00 0.000 6 0.000 0.000 2948 2112 1667

12238 0.66 341.4 561.4 11.2 1039 12239 0.00 0.00 0.00 0.000 6 0.000 0.000 2948 2112 1667

12555 0.66 341.4 526.3 10.9 1069 12560 0.00 2.70 0.00 0.000 4 0.000 0.054 2945 3471 1667

12583 0.66 341.4 523.0 11.3 1071 12588 0.00 2.62 0.00 0.000 6 0.000 0.046 2945 2117 1666

12908 0.66 341.4 486.2 11.6 1101 12912 0.00 2.95 0.00 0.000 4 0.000 0.064 2945 638 1666

12935 0.66 341.4 482.9 12.1 1103 12939 0.00 2.88 0.00 0.000 6 0.000 0.041 2947 2138 1667

13259 0.66 341.4 446.4 11.2 1133 13263 0.00 2.60 0.00 0.000 4 0.000 0.052 2945 3467 1666

13291 0.66 341.4 442.6 11.7 1135 13297 0.00 2.62 0.00 0.000 6 0.000 0.045 2945 2117 1666

13617 0.66 341.4 405.6 11.5 1166 13622 0.00 2.95 0.00 0.000 4 0.000 0.062 2946 637 1666

13637 0.66 341.4 402.9 11.8 1167 13644 0.00 2.88 0.00 0.000 6 0.000 0.041 2979 2141 1666

13964 0.66 341.4 366.8 10.6 1198 13965 0.00 0.00 0.00 0.000 6 0.000 0.000 2958 2141 1666

14290 0.66 341.4 330.7 11.6 1243 14296 0.00 3.03 0.00 0.000 4 0.000 0.061 2945 634 1666

14331 0.71 341.4 326.3 10.9 1250 14337 0.00 2.88 0.00 0.000 6 0.000 0.041 2945 2140 1666

14674 0.71 341.4 287.3 11.7 1311 14679 0.00 0.00 0.00 0.000 6 0.000 0.000 2946 2141 1667

15017 0.71 341.4 246.5 10.9 1372 15024 0.00 3.00 0.00 0.000 4 0.000 0.061 2946 641 1666

15053 0.75 341.4 242.3 11.2 1378 15059 0.00 2.83 0.00 0.000 6 0.000 0.040 2945 2121 1666

15396 0.75 341.4 203.7 11.1 1439 15401 0.00 0.00 0.00 0.000 6 0.000 0.000 2945 2121 1666

15738 0.75 343.7 167.7 9.9 1500 15744 0.00 0.00 0.00 0.000 6 0.000 0.000 2945 2121 1666

16082 0.78 371.3 134.5 9.0 1561 16115 0.12 0.00 27.62 0.941 6 0.073 0.000 2972 2121 1557

16454 0.72 371.3 82.2 15.2 1627 16459 0.00 0.00 0.00 0.000 6 0.000 0.000 2971 2121 1555

16796 0.65 371.3 29.8 15.7 1688 16803 0.15 0.00 0.00 0.000 6 0.128 0.000 2946 2121 1554

16939 0.69 404.0 14.2 8.9 1713 16979 0.00 3.03 32.58 0.808 4 0.000 0.064 2947 637 1423

16999 0.76 404.0 8.2 11.0 1723 17005 0.00 2.85 0.00 0.000 6 0.000 0.038 2946 2118 1422

17065 end climb: SURFACE_DEPTH_REACHED

state 17065 begin surface coast

17089 end surface coast: CONTROL_FINISHED_OK

state 17089 begin surface

ID	143	HD_C	9.8541004e-06	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0
MISSION	4	HEADING	220	PITCH_ADJ_GAIN	0.02	ALTIM_BOTTOM_TURN_MARGIN	0
DIVE	193	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	200	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	17	DEEPGLIDER	0
SURFACE_URGENCY	0	COMM_SEQ	0	R_STBD_OVSHOOT	34	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	-8929.3271	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	040255,6121.018,-2545.080,41,1.4,41,-18.2	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	6112.692,-2548.512
_XMS_NAKs	1	TGT_RADIUS	1852.000
_XMS_TOUTs	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.04	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-53.0	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	040935,6120.965,-2545.169,13,2.2,32,-18.2	MHEAD_RNG_PITCHd_Wd	238.2,20000,-15.7,-10.000
SPEED_LIMITS	0.173,0.296	D_GRID	990

FINISH	0.3,1.027251	XPDR_PINGS	22
SM_CCo	17166,0.00,0.000,0,0,1418,405.48	_24V_AH	19.2,64.040
SM_GC	0.97,7.22,0.00,0.00,0.041,0.000,0.000,1470,2312,1418,-6.08,0.51,405.48	_10V_AH	9.8,45.363
IRIDIUM_FIX	6059.36,-2541.70,060897,232354	DATA_FILE_SIZE	123208,1739
TT8_MAMPS	0.021476	CAP_FILE_SIZE	152618,0
HUMID	1734	CFSIZE	260165632,238219264
INTERNAL_PRESSURE	8.14484	ERRORS	0,0,0,0,0,0,0,0,0,0,0,1,0,0,0
TCM_TEMP	16.70	GPS	130508,085707,6116.748,-2550.602,34,1.2,34,-18.2

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	253	98.71	SBE_CT	1317	24	606.92
Roll_motor	115	70	156.25	SBE_O2	1214	19	442.95
VBD_pump_during_apogee	617	1433	17002.04	Optode	634	33	402.02
VBD_pump_during_surface	0	0	0.00	WL_BB2F	904	105	1824.20
VBD_valve	0	0	0.00	WL_BBFL2VMT	0	105	0.00
Iridium_during_init	23	103	46.91	nil	0	0	0.00
Iridium_during_connect	32	160	99.35	nil	0	0	0.00
Iridium_during_xfer	208	223	891.66
Transponder_ping	5	420	44.35
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	34	50	17.01
TT8	2734	19	530.63
LPSleep	10543	2	226.28
TT8_Active	696	19	135.11
TT8_Sampling	3061	39	1194.12
TT8_CF8	517	45	232.18
TT8_Kalman	0	0	0.00
Analog_circuits	2142	12	252.01
GPS_charging	0	0	0.00
Compass	3019	8	236.74
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
23	end surface: CONTROL_FINISHED_OK
state	23	begin dive
26	-0.82	-194.7	0.0	0.0	0	122	0.00	0.00	-93.05	0.000	2	0.000	0.000	1465	2316	3353
125	-0.82	-194.7	3.2	-5.3	17	155	10.12	2.85	-12.80	0.000	4	0.254	0.068	2614	886	3865
296	-0.77	-194.7	30.5	-14.2	47	302	0.00	2.75	0.00	0.000	6	0.000	0.052	2613	2277	3866
438	-0.67	-194.7	52.3	-15.9	72	444	0.20	0.00	0.00	0.000	6	0.147	0.000	2645	2277	3867
781	-0.67	-194.7	96.3	-13.2	133	786	0.00	0.00	0.00	0.000	6	0.000	0.000	2645	2277	3867
1123	-0.67	-194.7	140.7	-12.6	194	1129	0.00	0.00	0.00	0.000	6	0.000	0.000	2646	2277	3867
1465	-0.67	-194.7	186.5	-14.2	255	1470	0.00	0.00	0.00	0.000	6	0.000	0.000	2646	2277	3867
1808	-0.67	-194.7	233.7	-12.8	316	1814	0.00	0.00	0.00	0.000	6	0.000	0.000	2645	2277	3867
2151	-0.67	-194.7	276.8	-12.3	377	2157	0.00	0.00	0.00	0.000	6	0.000	0.000	2645	2277	3867
2494	-0.67	-194.7	318.5	-11.8	438	2499	0.00	0.00	0.00	0.000	6	0.000	0.000	2645	2277	3867
2837	-0.67	-194.7	360.5	-12.6	492	2838	0.00	0.00	0.00	0.000	6	0.000	0.000	2646	2277	3867
3156	-0.67	-194.7	402.4	-13.5	522	3157	0.00	0.00	0.00	0.000	6	0.000	0.000	2645	2277	3867
3476	-0.67	-194.7	446.6	-14.4	552	3477	0.00	0.00	0.00	0.000	6	0.000	0.000	2645	2277	3867
3795	-0.67	-194.7	492.8	-14.4	582	3796	0.00	0.00	0.00	0.000	6	0.000	0.000	2646	2277	3867
4111	-0.67	-194.7	538.4	-14.2	612	4112	0.00	0.00	0.00	0.000	6	0.000	0.000	2645	2278	3867
4430	-0.67	-194.7	580.6	-12.7	642	4431	0.00	0.00	0.00	0.000	6	0.000	0.000	2646	2278	3867
4755	-0.67	-194.7	619.5	-11.5	665	4756	0.00	0.00	0.00	0.000	6	0.000	0.000	2645	2278	3867
5063	-0.67	-194.7	655.1	-12.0	680	5064	0.00	0.00	0.00	0.000	6	0.000	0.000	2645	2278	3866
5373	-0.67	-194.7	695.0	-13.3	695	5374	0.00	0.00	0.00	0.000	6	0.000	0.000	2645	2279	3866
5682	-0.67	-194.7	735.5	-12.9	710	5683	0.00	0.00	0.00	0.000	6	0.000	0.000	2645	2281	3866
5991	-0.67	-194.7	776.5	-13.3	725	5992	0.00	0.00	0.00	0.000	6	0.000	0.000	2645	2281	3866
6301	-0.67	-194.7	812.9	-11.5	740	6302	0.00	0.00	0.00	0.000	6	0.000	0.000	2646	2281	3866
6609	-0.67	-194.7	846.1	-10.2	755	6611	0.00	0.00	0.00	0.000	6	0.000	0.000	2646	2281	3866
6919	-0.67	-194.7	878.7	-10.4	770	6923	0.00	2.90	0.00	0.000	4	0.000	0.067	2645	3706	3866
6945	-0.67	-194.7	881.5	-11.4	771	6950	0.00	2.78	0.00	0.000	6	0.000	0.052	2645	2308	3866
7260	-0.67	-194.7	915.7	-11.2	786	7265	0.00	2.90	0.00	0.000	4	0.000	0.068	2645	876	3865
7286	-0.67	-194.7	918.7	-12.3	787	7291	0.00	2.83	0.00	0.000	6	0.000	0.050	2645	2314	3865
7608	-0.67	-194.7	953.9	-10.4	803	7609	0.00	0.00	0.00	0.000	6	0.000	0.000	2645	2315	3865
7917	-0.67	-194.7	984.8	-9.6	818	7922	0.00	2.92	0.00	0.000	4	0.000	0.067	2645	875	3865
7962	-0.73	-194.7	989.0	-9.6	820	7967	0.00	2.83	0.00	0.000	6	0.000	0.051	2645	2308	3864
7971	end dive: TARGET_DEPTH_EXCEEDED
state	7971	begin apogee
7976	-0.19	0.0	990.1	9.0	821	8180	0.65	0.00	200.35	1.434	6	0.122	0.000	2754	2033	3071
8181	end apogee: CONTROL_FINISHED_OK
state	8181	begin climb
8183	0.82	194.7	996.0	0.0	831	8401	1.25	3.20	207.12	1.356	4	0.087	0.070	2970	647	2277
8507	0.71	194.7	965.4	13.0	846	8512	0.00	2.92	0.00	0.000	6	0.000	0.046	2970	2058	2274
8822	0.58	194.7	925.4	12.4	861	8828	0.25	2.90	0.00	0.000	4	0.135	0.061	2929	3468	2272
8872	0.58	194.7	920.0	10.1	863	8877	0.00	2.85	0.00	0.000	6	0.000	0.052	2930	2061	2271
9188	0.53	194.7	887.2	11.0	878	9192	0.00	2.85	0.00	0.000	4	0.000	0.059	2930	3463	2271
9236	0.53	194.7	881.4	12.0	880	9241	0.00	2.78	0.00	0.000	6	0.000	0.052	2930	2080	2271
9559	0.49	204.0	848.1	9.7	896	9574	0.12	2.83	9.68	1.252	4	0.131	0.060	2912	3467	2240
9601	0.55	248.8	844.2	8.5	897	9653	0.00	2.75	46.38	1.341	6	0.000	0.051	2911	2095	2056
9964	0.66	341.4	819.0	6.8	914	10067	0.15	3.15	94.00	1.309	4	0.069	0.071	2945	640	1678
10139	0.66	341.4	801.5	10.1	922	10143	0.00	3.00	0.00	0.000	6	0.000	0.046	2945	2123	1673
10466	0.66	341.4	766.0	11.0	938	10471	0.00	3.10	0.00	0.000	4	0.000	0.071	2945	632	1670
10565	0.66	341.4	754.8	10.5	942	10572	0.00	2.92	0.00	0.000	6	0.000	0.047	2945	2118	1671
10881	0.66	341.4	720.1	11.4	958	10885	0.00	2.70	0.00	0.000	4	0.000	0.060	2945	3461	1670
10907	0.66	341.4	716.9	11.7	959	10912	0.00	2.67	0.00	0.000	6	0.000	0.051	2946	2117	1668
11222	0.66	341.4	678.7	13.1	974	11227	0.00	3.00	0.00	0.000	4	0.000	0.070	2945	634	1668
11248	0.66	341.4	674.9	14.2	975	11253	0.00	2.90	0.00	0.000	6	0.000	0.044	2945	2127	1668
11570	0.66	341.4	634.4	12.3	991	11574	0.00	2.67	0.00	0.000	4	0.000	0.057	2945	3472	1668
11596	0.66	341.4	631.1	12.1	992	11600	0.00	2.67	0.00	0.000	6	0.000	0.048	2948	2113	1667
11918	0.66	341.4	596.4	10.7	1009	11919	0.00	0.00	0.00	0.000	6	0.000	0.000	2948	2112	1667
12238	0.66	341.4	561.4	11.2	1039	12239	0.00	0.00	0.00	0.000	6	0.000	0.000	2948	2112	1667
12555	0.66	341.4	526.3	10.9	1069	12560	0.00	2.70	0.00	0.000	4	0.000	0.054	2945	3471	1667
12583	0.66	341.4	523.0	11.3	1071	12588	0.00	2.62	0.00	0.000	6	0.000	0.046	2945	2117	1666
12908	0.66	341.4	486.2	11.6	1101	12912	0.00	2.95	0.00	0.000	4	0.000	0.064	2945	638	1666
12935	0.66	341.4	482.9	12.1	1103	12939	0.00	2.88	0.00	0.000	6	0.000	0.041	2947	2138	1667
13259	0.66	341.4	446.4	11.2	1133	13263	0.00	2.60	0.00	0.000	4	0.000	0.052	2945	3467	1666
13291	0.66	341.4	442.6	11.7	1135	13297	0.00	2.62	0.00	0.000	6	0.000	0.045	2945	2117	1666
13617	0.66	341.4	405.6	11.5	1166	13622	0.00	2.95	0.00	0.000	4	0.000	0.062	2946	637	1666
13637	0.66	341.4	402.9	11.8	1167	13644	0.00	2.88	0.00	0.000	6	0.000	0.041	2979	2141	1666
13964	0.66	341.4	366.8	10.6	1198	13965	0.00	0.00	0.00	0.000	6	0.000	0.000	2958	2141	1666
14290	0.66	341.4	330.7	11.6	1243	14296	0.00	3.03	0.00	0.000	4	0.000	0.061	2945	634	1666
14331	0.71	341.4	326.3	10.9	1250	14337	0.00	2.88	0.00	0.000	6	0.000	0.041	2945	2140	1666
14674	0.71	341.4	287.3	11.7	1311	14679	0.00	0.00	0.00	0.000	6	0.000	0.000	2946	2141	1667
15017	0.71	341.4	246.5	10.9	1372	15024	0.00	3.00	0.00	0.000	4	0.000	0.061	2946	641	1666
15053	0.75	341.4	242.3	11.2	1378	15059	0.00	2.83	0.00	0.000	6	0.000	0.040	2945	2121	1666
15396	0.75	341.4	203.7	11.1	1439	15401	0.00	0.00	0.00	0.000	6	0.000	0.000	2945	2121	1666
15738	0.75	343.7	167.7	9.9	1500	15744	0.00	0.00	0.00	0.000	6	0.000	0.000	2945	2121	1666
16082	0.78	371.3	134.5	9.0	1561	16115	0.12	0.00	27.62	0.941	6	0.073	0.000	2972	2121	1557
16454	0.72	371.3	82.2	15.2	1627	16459	0.00	0.00	0.00	0.000	6	0.000	0.000	2971	2121	1555
16796	0.65	371.3	29.8	15.7	1688	16803	0.15	0.00	0.00	0.000	6	0.128	0.000	2946	2121	1554
16939	0.69	404.0	14.2	8.9	1713	16979	0.00	3.03	32.58	0.808	4	0.000	0.064	2947	637	1423
16999	0.76	404.0	8.2	11.0	1723	17005	0.00	2.85	0.00	0.000	6	0.000	0.038	2946	2118	1422
17065	end climb: SURFACE_DEPTH_REACHED
state	17065	begin surface coast
17089	end surface coast: CONTROL_FINISHED_OK
state	17089	begin surface