Glider dive log

WA coast Apr08 * SG101 * Dive index * Mission links * Dive 23 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 101 HD_C 3.1312e-05 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 20

MISSION 5 HEADING -1 PITCH_ADJ_GAIN 0 ALTIM_BOTTOM_TURN_MARGIN 10

DIVE 23 ESCAPE_HEADING 60 PITCH_ADJ_DBAND 0 ALTIM_TOP_TURN_MARGIN 0

D_SURF 2 ESCAPE_HEADING_DELTA 10 ROLL_MIN 180 ALTIM_TOP_MIN_OBSTACLE 1

D_FLARE 3 FIX_MISSING_TIMEOUT 0 ROLL_MAX 3635 ALTIM_PING_DEPTH 125

D_TGT 990 TGT_DEFAULT_LAT 48.150002 ROLL_DEG 40 ALTIM_PING_DELTA 25

D_ABORT 1090 TGT_DEFAULT_LON -125.67 C_ROLL_DIVE 2600 ALTIM_FREQUENCY 13

D_NO_BLEED 200 TGT_AUTO_DEFAULT 0 C_ROLL_CLIMB 2200 ALTIM_PULSE 5

D_FINISH 0 SM_CC 400 HEAD_ERRBAND 15 ALTIM_SENSITIVITY 4

D_PITCH 0 N_FILEKB 4 ROLL_CNV 0.028270001 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 FILEMGR 0 ROLL_TIMEOUT 15 INT_PRESSURE_YINT 0

D_CALL 0 CALL_NDIVES 1 R_PORT_OVSHOOT 38 DEEPGLIDER 0

SURFACE_URGENCY 0 COMM_SEQ 0 R_STBD_OVSHOOT 17 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 KERMIT 0 ROLL_AD_RATE 350 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 N_NOCOMM 1 ROLL_MAXERRORS 1 DEVICE1 2

T_DIVE 330 N_NOSURFACE 0 ROLL_ADJ_GAIN 0 DEVICE2 20

T_MISSION 360 UPLOAD_DIVES_MAX -1 ROLL_ADJ_DBAND 0 DEVICE3 35

T_ABORT 1440 CALL_TRIES 5 VBD_MIN 294 DEVICE4 -1

T_TURN 225 CALL_WAIT 60 VBD_MAX 3583 DEVICE5 -1

T_TURN_SAMPINT 5 CAPUPLOAD 0 C_VBD 2564 DEVICE6 -1

T_NO_W 120 CAPMAXSIZE 100000 VBD_DBAND 2 SMARTS 0

USE_BATHY -1 HEAPDBG 0 VBD_CNV -0.24529999 SMARTDEVICE1 -1

USE_ICE 0 T_GPS 15 VBD_TIMEOUT 720 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.30000001 N_GPS 20 PITCH_VBD_SHIFT 0.0012300001 COMPASS_DEVICE 33

D_OFFGRID 1001 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_SURFACE 5 PHONE_DEVICE 48

T_WATCHDOG 10 T_GPS_CHARGE -691077.5 VBD_PUMP_AD_RATE_APOGEE 2 GPS_DEVICE 32

RELAUNCH 1 T_RSLEEP 2 VBD_BLEED_AD_RATE 10 RAFOS_DEVICE -1

APOGEE_PITCH -5 RAFOS_PEAK_OFFSET 1.5 UNCOM_BLEED 20 XPDR_DEVICE 24

MAX_BUOY 150 RAFOS_CORR_THRESH 60 VBD_MAXERRORS 1 SIM_W 0

COURSE_BIAS 0 RAFOS_HIT_WINDOW 3600 CF8_MAXERRORS 2 SIM_PITCH 0

GLIDE_SLOPE 30 PITCH_MIN 29 AH0_24V 91.800003 SEABIRD_T_G 0.0043762224

SPEED_FACTOR 0.94999993 PITCH_MAX 3302 AH0_10V 61.200001 SEABIRD_T_H 0.0006433985

RHO 1.023 C_PITCH 2500 PRESSURE_YINT -14.435382 SEABIRD_T_I 2.5567888e-05

MASS 50300 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.000115925 SEABIRD_T_J 2.722762e-06

NAV_MODE 1 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_C_G -10.209094

FERRY_MAX 45 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET -1.3 SEABIRD_C_H 1.1488034

KALMAN_USE 1 PITCH_GAIN 11 TCM_ROLL_OFFSET -0.2 SEABIRD_C_I -0.0015548224

HD_A 0.0034169999 PITCH_TIMEOUT 17 COMPASS_USE 0 SEABIRD_C_J 0.00021813136

HD_B 0.0095870001 PITCH_AD_RATE 175 ALTIM_BOTTOM_PING_RANGE 0

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 175 SMARTDEVICE1 -1

AH0_10V 61.200001 D_FLARE 3 PITCH_CNV 0.0046000001 SMARTDEVICE2 -1

AH0_24V 91.800003 D_NO_BLEED 200 PITCH_DBAND 0.1 SMARTS 0

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 1001 PITCH_GAIN 11 SM_CC 400

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 PITCH_MAX 3302 SPEED_FACTOR 0.94999993

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 25 D_SURF 2 PITCH_MIN 29 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 125 D_TGT 990 PITCH_TIMEOUT 17 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 5 ESCAPE_HEADING 60 PITCH_VBD_SHIFT 0.0012300001 TCM_PITCH_OFFSET -1.3

ALTIM_SENSITIVITY 4 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.000115925 TCM_ROLL_OFFSET -0.2

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 45 PRESSURE_YINT -14.435382 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 20 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LAT 48.150002

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 RAFOS_CORR_THRESH 60 TGT_DEFAULT_LON -125.67

APOGEE_PITCH -5 GLIDE_SLOPE 30 RAFOS_DEVICE -1 T_ABORT 1440

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_DIVE 330

CALL_TRIES 5 HD_A 0.0034169999 RAFOS_PEAK_OFFSET 1.5 T_GPS 15

CALL_WAIT 60 HD_B 0.0095870001 RELAUNCH 1 T_GPS_ALMANAC 0

CAPMAXSIZE 100000 HD_C 3.1312e-05 RHO 1.023 T_GPS_CHARGE -691077.5

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 360

CF8_MAXERRORS 2 HEAD_ERRBAND 15 ROLL_ADJ_GAIN 0 T_NO_W 120

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 350 T_RSLEEP 2

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN 225

COMPASS_USE 0 ID 101 ROLL_DEG 40 T_TURN_SAMPINT 5

COURSE_BIAS 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3635 T_WATCHDOG 10

C_PITCH 2500 INT_PRESSURE_YINT 0 ROLL_MAXERRORS 1 UNCOM_BLEED 20

C_ROLL_CLIMB 2200 KALMAN_USE 1 ROLL_MIN 180 UPLOAD_DIVES_MAX -1

C_ROLL_DIVE 2600 KERMIT 0 ROLL_TIMEOUT 15 USE_BATHY -1

C_VBD 2564 MASS 50300 R_PORT_OVSHOOT 38 USE_ICE 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 17 VBD_BLEED_AD_RATE 10

DEEPGLIDERMB 0 MISSION 5 SEABIRD_C_G -10.209094 VBD_CNV -0.24529999

DEVICE1 2 MOTHERBOARD 4 SEABIRD_C_H 1.1488034 VBD_DBAND 2

DEVICE2 20 NAV_MODE 1 SEABIRD_C_I -0.0015548224 VBD_MAX 3583

DEVICE3 35 N_FILEKB 4 SEABIRD_C_J 0.00021813136 VBD_MAXERRORS 1

DEVICE4 -1 N_GPS 20 SEABIRD_T_G 0.0043762224 VBD_MIN 294

DEVICE5 -1 N_NOCOMM 1 SEABIRD_T_H 0.0006433985 VBD_PUMP_AD_RATE_APOGEE 2

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.5567888e-05 VBD_PUMP_AD_RATE_SURFACE 5

DIVE 23 PHONE_DEVICE 48 SEABIRD_T_J 2.722762e-06 VBD_TIMEOUT 720

D_ABORT 1090 PITCH_ADJ_DBAND 0 SIM_PITCH 0 XPDR_DEVICE 24

D_CALL 0 PITCH_ADJ_GAIN 0 SIM_W 0

Pre-dive calculations and measurements:

GPS1 150338,4800.432,-12554.930,37,1.6,37,18.9 TGT_NAME SW_47N_128W

_CALLS 1 TGT_LATLONG 4700.000,-12800.000

_XMS_NAKs 2 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.215,-0.145

_SM_DEPTHo 1.45 KALMAN_X 21646.5,-3740.9,-2004.5,-36497.2,15509.7

_SM_ANGLEo -63.8 KALMAN_Y 1910.5,-511.0,-461.6,-14570.8,2522.9

GPS2 150935,4800.418,-12554.879,9,2.1,28,18.9 MHEAD_RNG_PITCHd_Wd 217.2,193637,-17.9,-10.000

SPEED_LIMITS 0.165,0.247 D_GRID 1000

Post-dive calculations and measurements:

FINISH 0.7,1.018078 ALTIM_TOP_PING 19.7,18.7

SM_CCo 18181,30.58,0.749,0,0,933,400.08 _24V_AH 23.2,6.620

SM_GC 1.49,0.00,0.00,30.58,0.000,0.000,0.749,28,2565,933,-11.37,-0.99,400.08 _10V_AH 10.1,2.915

IRIDIUM_FIX 4745.30,-12551.71,280697,101040 DATA_FILE_SIZE 31734,626

TT8_MAMPS 0.026078 CAP_FILE_SIZE 129799,0

HUMID 1823 CFSIZE 260165632,257163264

INTERNAL_PRESSURE 8.848 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,2,0,0

TCM_TEMP 17.00 GPS 030408,201532,4759.345,-12557.662,42,1.9,42,18.9

XPDR_PINGS 0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 28 163 108.02 SBE_CT 435 24 242.30

Roll_motor 141 99 327.85 SBE_O2 505 19 223.00

VBD_pump_during_apogee 441 1471 15064.83 WL_BB2F 719 105 1752.53

VBD_pump_during_surface 30 748 531.01 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 32 103 78.82 nil 0 0 0.00

Iridium_during_connect 44 160 165.18 nil 0 0 0.00

Iridium_during_xfer 137 223 713.43

Transponder_ping 9 420 87.70

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 29 50 14.94

TT8 1361 19 272.37

LPSleep 13785 2 304.92

TT8_Active 572 19 114.50

TT8_Sampling 2258 39 907.89

TT8_CF8 599 45 277.54

TT8_Kalman 33 81 27.55

Analog_circuits 1661 12 201.40

GPS_charging 0 0 0.00

Compass 2182 8 176.35

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

29 -1.81 -146.6 0.0 0.0 0 80 0.00 0.00 -49.75 0.000 2 0.000 0.000 33 2597 1991

85 -1.81 -146.6 3.2 -4.6 5 139 11.70 2.00 -34.90 0.000 4 0.163 0.100 2099 3621 3164

292 -1.81 -146.6 42.3 -18.6 24 298 0.00 1.83 0.00 0.000 6 0.000 0.049 2099 2607 3164

637 -1.81 -146.6 98.0 -14.5 75 640 0.00 1.95 0.00 0.000 4 0.000 0.081 2099 3630 3163

694 -1.81 -146.6 106.8 -15.4 80 698 0.00 1.85 0.00 0.000 6 0.000 0.049 2099 2601 3163

1028 -1.81 -146.6 153.1 -14.4 110 1032 0.00 2.53 0.00 0.000 4 0.000 0.052 2099 1196 3163

1078 -1.81 -146.6 160.8 -14.5 112 1082 0.00 2.53 0.00 0.000 6 0.000 0.047 2099 2602 3163

1394 -1.81 -146.6 203.4 -13.4 127 1396 0.00 0.00 0.00 0.000 6 0.000 0.000 2099 2603 3163

1704 -1.81 -146.6 245.0 -13.4 142 1705 0.00 0.00 0.00 0.000 6 0.000 0.000 2099 2603 3163

2013 -1.81 -146.6 286.7 -13.2 157 2017 0.00 2.55 0.00 0.000 4 0.000 0.053 2099 1196 3163

2076 -1.81 -146.6 294.9 -12.6 160 2080 0.00 2.55 0.00 0.000 6 0.000 0.050 2099 2603 3163

2438 -1.81 -146.6 340.5 -12.5 168 2439 0.00 0.00 0.00 0.000 6 0.000 0.000 2099 2603 3163

2743 -1.81 -146.6 378.9 -12.7 173 2747 0.00 2.58 0.00 0.000 4 0.000 0.062 2099 1203 3163

2810 -1.81 -146.6 387.8 -12.8 174 2814 0.00 2.58 0.00 0.000 6 0.000 0.061 2099 2602 3163

3171 -1.81 -146.6 432.4 -12.5 180 3172 0.00 0.00 0.00 0.000 6 0.000 0.000 2099 2601 3163

3473 -1.81 -146.6 473.4 -13.6 185 3474 0.00 0.00 0.00 0.000 6 0.000 0.000 2099 2602 3162

3776 -1.81 -146.6 515.6 -13.9 190 3780 0.00 2.75 0.00 0.000 4 0.000 0.098 2099 1208 3162

3820 -1.81 -146.6 521.7 -13.0 190 3825 0.00 2.75 0.00 0.000 6 0.000 0.095 2099 2602 3161

4135 -1.81 -146.6 561.6 -12.6 196 4136 0.00 0.00 0.00 0.000 6 0.000 0.000 2099 2602 3161

4440 -1.81 -146.6 598.6 -12.1 201 4444 0.00 2.72 0.00 0.000 4 0.000 0.091 2099 1201 3161

4495 -1.81 -146.6 605.7 -11.8 201 4501 0.00 2.75 0.00 0.000 6 0.000 0.092 2099 2606 3160

4805 -1.81 -146.6 643.0 -12.0 207 4806 0.00 0.00 0.00 0.000 6 0.000 0.000 2099 2607 3160

5109 -1.81 -146.6 678.4 -11.5 212 5110 0.00 0.00 0.00 0.000 6 0.000 0.000 2099 2607 3159

5411 -1.81 -146.6 712.3 -11.2 217 5416 0.00 2.70 0.00 0.000 4 0.000 0.087 2099 1209 3159

5501 -1.81 -146.6 722.7 -11.2 218 5506 0.00 2.70 0.00 0.000 6 0.000 0.088 2099 2602 3159

5840 -1.81 -146.6 760.6 -11.2 224 5841 0.00 0.00 0.00 0.000 6 0.000 0.000 2099 2601 3159

6144 -1.81 -146.6 794.3 -11.1 229 6145 0.00 0.00 0.00 0.000 6 0.000 0.000 2099 2602 3159

6446 -1.81 -146.6 826.6 -10.7 234 6451 0.00 2.67 0.00 0.000 4 0.000 0.086 2099 1210 3158

6525 -1.81 -146.6 835.4 -11.1 235 6530 0.00 2.70 0.00 0.000 6 0.000 0.088 2099 2603 3157

6874 -1.81 -146.6 870.0 -9.9 241 6875 0.00 0.00 0.00 0.000 6 0.000 0.000 2099 2603 3158

7178 -1.81 -146.6 900.1 -9.9 246 7183 0.00 2.70 0.00 0.000 4 0.000 0.087 2099 1200 3158

7223 -1.81 -146.6 904.9 -10.9 246 7228 0.00 2.70 0.00 0.000 6 0.000 0.086 2099 2601 3158

7539 -1.81 -146.6 937.3 -10.4 252 7543 0.00 2.67 0.00 0.000 4 0.000 0.086 2099 1209 3157

7572 -1.81 -146.6 941.1 -11.2 252 7577 0.00 2.67 0.00 0.000 6 0.000 0.085 2099 2600 3158

7900 -1.81 -146.6 975.6 -10.6 258 7901 0.00 0.00 0.00 0.000 6 0.000 0.000 2099 2599 3157

8077 end dive: TARGET_DEPTH_EXCEEDED

state 8078 begin apogee

8087 -0.45 0.0 994.5 10.5 261 8217 1.42 0.00 126.72 1.471 6 0.081 0.000 2397 2209 2564

8218 end apogee: CONTROL_FINISHED_OK

state 8218 begin climb

8221 1.81 146.6 998.9 0.0 263 8357 2.22 2.90 126.80 1.424 4 0.049 0.098 2900 788 1966

8617 1.81 146.6 968.7 11.6 269 8622 0.00 2.75 0.00 0.000 6 0.000 0.077 2900 2207 1966

8983 1.81 146.6 926.4 11.5 275 8987 0.00 2.80 0.00 0.000 4 0.000 0.093 2900 789 1965

9170 1.81 146.6 905.3 11.2 277 9175 0.00 2.72 0.00 0.000 6 0.000 0.077 2900 2205 1965

9480 1.81 146.6 872.7 10.3 282 9484 0.00 2.80 0.00 0.000 4 0.000 0.093 2900 790 1965

9737 1.81 146.6 845.0 11.6 285 9743 0.00 2.70 0.00 0.000 6 0.000 0.076 2900 2201 1965

10048 1.81 147.6 814.1 10.0 291 10052 0.00 2.78 0.00 0.000 4 0.000 0.092 2900 791 1964

10305 1.81 147.6 786.9 10.8 294 10311 0.00 2.70 0.00 0.000 6 0.000 0.076 2900 2203 1964

10615 1.81 147.6 754.2 10.6 300 10619 0.00 2.78 0.00 0.000 4 0.000 0.091 2900 791 1964

10755 1.81 147.6 739.0 11.3 302 10759 0.00 2.70 0.00 0.000 6 0.000 0.075 2900 2207 1964

11109 1.82 150.4 703.9 9.9 308 11119 0.00 2.80 4.65 0.927 4 0.000 0.092 2900 788 1951

11373 1.82 150.4 677.1 10.0 312 11378 0.00 2.70 0.00 0.000 6 0.000 0.076 2900 2201 1951

11740 1.83 163.5 642.6 9.4 318 11759 0.00 2.85 13.02 1.170 4 0.000 0.092 2900 792 1897

11945 1.83 163.5 619.8 10.4 321 11950 0.00 2.70 0.00 0.000 6 0.000 0.075 2900 2204 1897

12305 1.83 163.5 580.8 10.9 327 12310 0.00 2.78 0.00 0.000 4 0.000 0.091 2900 791 1897

12563 1.83 163.5 552.5 10.7 330 12569 0.00 2.67 0.00 0.000 6 0.000 0.074 2901 2201 1897

12873 1.83 163.6 521.5 10.0 336 12877 0.00 2.75 0.00 0.000 4 0.000 0.089 2900 786 1897

13099 1.84 168.2 498.4 9.8 339 13110 0.00 2.67 5.65 0.918 6 0.000 0.068 2900 2210 1878

13437 1.84 168.2 464.2 10.1 345 13441 0.00 2.72 0.00 0.000 4 0.000 0.082 2900 791 1878

13520 1.84 168.2 455.2 10.6 346 13525 0.00 2.62 0.00 0.000 6 0.000 0.061 2900 2211 1878

13864 1.84 168.2 419.9 10.4 352 13868 0.00 2.70 0.00 0.000 4 0.000 0.076 2900 788 1878

14099 1.85 176.2 396.3 9.6 355 14113 0.00 2.58 8.70 0.972 6 0.000 0.054 2900 2203 1845

14430 1.85 176.2 363.3 10.0 361 14434 0.00 2.65 0.00 0.000 4 0.000 0.067 2900 785 1844

14654 1.86 183.6 339.8 9.7 364 14668 0.00 2.55 7.93 0.921 6 0.000 0.048 2900 2203 1814

14997 1.86 183.6 304.5 10.3 370 14998 0.00 0.00 0.00 0.000 6 0.000 0.000 2900 2203 1814

15307 1.88 205.8 275.8 9.0 383 15332 0.00 2.72 19.45 0.972 4 0.000 0.064 2900 791 1725

15569 1.88 205.8 249.0 10.1 394 15575 0.00 2.55 0.00 0.000 6 0.000 0.046 2900 2211 1724

15886 1.88 205.8 216.4 10.3 410 15887 0.00 0.00 0.00 0.000 6 0.000 0.000 2900 2211 1725

16195 1.88 205.8 183.5 10.6 425 16199 0.00 2.62 0.00 0.000 4 0.000 0.063 2900 791 1725

16453 1.88 205.8 154.4 10.8 436 16459 0.00 2.53 0.00 0.000 6 0.000 0.045 2900 2203 1725

16780 1.88 205.8 122.1 10.1 465 16786 0.00 0.00 0.00 0.000 6 0.000 0.000 2900 2203 1725

17106 1.89 209.4 90.7 9.8 496 17118 0.00 2.62 4.88 0.676 4 0.000 0.061 2900 788 1710

17276 1.95 257.7 75.9 7.7 514 17322 0.10 2.53 39.85 0.842 6 0.107 0.044 2918 2204 1513

17665 1.95 257.7 37.5 10.2 580 17670 0.00 0.00 0.00 0.000 6 0.000 0.000 2918 2204 1513

17993 2.08 361.7 13.6 5.1 611 18085 0.15 2.72 83.75 0.787 4 0.063 0.078 2957 3607 1088

18131 end climb: SURFACE_DEPTH_REACHED

state 18131 begin surface coast

18153 end surface coast: CONTROL_FINISHED_OK

state 18153 begin surface

ID	101	HD_C	3.1312e-05	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	20
MISSION	5	HEADING	-1	PITCH_ADJ_GAIN	0	ALTIM_BOTTOM_TURN_MARGIN	10
DIVE	23	ESCAPE_HEADING	60	PITCH_ADJ_DBAND	0	ALTIM_TOP_TURN_MARGIN	0
D_SURF	2	ESCAPE_HEADING_DELTA	10	ROLL_MIN	180	ALTIM_TOP_MIN_OBSTACLE	1
D_FLARE	3	FIX_MISSING_TIMEOUT	0	ROLL_MAX	3635	ALTIM_PING_DEPTH	125
D_TGT	990	TGT_DEFAULT_LAT	48.150002	ROLL_DEG	40	ALTIM_PING_DELTA	25
D_ABORT	1090	TGT_DEFAULT_LON	-125.67	C_ROLL_DIVE	2600	ALTIM_FREQUENCY	13
D_NO_BLEED	200	TGT_AUTO_DEFAULT	0	C_ROLL_CLIMB	2200	ALTIM_PULSE	5
D_FINISH	0	SM_CC	400	HEAD_ERRBAND	15	ALTIM_SENSITIVITY	4
D_PITCH	0	N_FILEKB	4	ROLL_CNV	0.028270001	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	FILEMGR	0	ROLL_TIMEOUT	15	INT_PRESSURE_YINT	0
D_CALL	0	CALL_NDIVES	1	R_PORT_OVSHOOT	38	DEEPGLIDER	0
SURFACE_URGENCY	0	COMM_SEQ	0	R_STBD_OVSHOOT	17	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	KERMIT	0	ROLL_AD_RATE	350	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	N_NOCOMM	1	ROLL_MAXERRORS	1	DEVICE1	2
T_DIVE	330	N_NOSURFACE	0	ROLL_ADJ_GAIN	0	DEVICE2	20
T_MISSION	360	UPLOAD_DIVES_MAX	-1	ROLL_ADJ_DBAND	0	DEVICE3	35
T_ABORT	1440	CALL_TRIES	5	VBD_MIN	294	DEVICE4	-1
T_TURN	225	CALL_WAIT	60	VBD_MAX	3583	DEVICE5	-1
T_TURN_SAMPINT	5	CAPUPLOAD	0	C_VBD	2564	DEVICE6	-1
T_NO_W	120	CAPMAXSIZE	100000	VBD_DBAND	2	SMARTS	0
USE_BATHY	-1	HEAPDBG	0	VBD_CNV	-0.24529999	SMARTDEVICE1	-1
USE_ICE	0	T_GPS	15	VBD_TIMEOUT	720	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.30000001	N_GPS	20	PITCH_VBD_SHIFT	0.0012300001	COMPASS_DEVICE	33
D_OFFGRID	1001	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_SURFACE	5	PHONE_DEVICE	48
T_WATCHDOG	10	T_GPS_CHARGE	-691077.5	VBD_PUMP_AD_RATE_APOGEE	2	GPS_DEVICE	32
RELAUNCH	1	T_RSLEEP	2	VBD_BLEED_AD_RATE	10	RAFOS_DEVICE	-1
APOGEE_PITCH	-5	RAFOS_PEAK_OFFSET	1.5	UNCOM_BLEED	20	XPDR_DEVICE	24
MAX_BUOY	150	RAFOS_CORR_THRESH	60	VBD_MAXERRORS	1	SIM_W	0
COURSE_BIAS	0	RAFOS_HIT_WINDOW	3600	CF8_MAXERRORS	2	SIM_PITCH	0
GLIDE_SLOPE	30	PITCH_MIN	29	AH0_24V	91.800003	SEABIRD_T_G	0.0043762224
SPEED_FACTOR	0.94999993	PITCH_MAX	3302	AH0_10V	61.200001	SEABIRD_T_H	0.0006433985
RHO	1.023	C_PITCH	2500	PRESSURE_YINT	-14.435382	SEABIRD_T_I	2.5567888e-05
MASS	50300	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.000115925	SEABIRD_T_J	2.722762e-06
NAV_MODE	1	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_C_G	-10.209094
FERRY_MAX	45	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	-1.3	SEABIRD_C_H	1.1488034
KALMAN_USE	1	PITCH_GAIN	11	TCM_ROLL_OFFSET	-0.2	SEABIRD_C_I	-0.0015548224
HD_A	0.0034169999	PITCH_TIMEOUT	17	COMPASS_USE	0	SEABIRD_C_J	0.00021813136
HD_B	0.0095870001	PITCH_AD_RATE	175	ALTIM_BOTTOM_PING_RANGE	0

GPS1	150338,4800.432,-12554.930,37,1.6,37,18.9	TGT_NAME	SW_47N_128W
_CALLS	1	TGT_LATLONG	4700.000,-12800.000
_XMS_NAKs	2	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.215,-0.145
_SM_DEPTHo	1.45	KALMAN_X	21646.5,-3740.9,-2004.5,-36497.2,15509.7
_SM_ANGLEo	-63.8	KALMAN_Y	1910.5,-511.0,-461.6,-14570.8,2522.9
GPS2	150935,4800.418,-12554.879,9,2.1,28,18.9	MHEAD_RNG_PITCHd_Wd	217.2,193637,-17.9,-10.000
SPEED_LIMITS	0.165,0.247	D_GRID	1000

FINISH	0.7,1.018078	ALTIM_TOP_PING	19.7,18.7
SM_CCo	18181,30.58,0.749,0,0,933,400.08	_24V_AH	23.2,6.620
SM_GC	1.49,0.00,0.00,30.58,0.000,0.000,0.749,28,2565,933,-11.37,-0.99,400.08	_10V_AH	10.1,2.915
IRIDIUM_FIX	4745.30,-12551.71,280697,101040	DATA_FILE_SIZE	31734,626
TT8_MAMPS	0.026078	CAP_FILE_SIZE	129799,0
HUMID	1823	CFSIZE	260165632,257163264
INTERNAL_PRESSURE	8.848	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
TCM_TEMP	17.00	GPS	030408,201532,4759.345,-12557.662,42,1.9,42,18.9
XPDR_PINGS	0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	28	163	108.02	SBE_CT	435	24	242.30
Roll_motor	141	99	327.85	SBE_O2	505	19	223.00
VBD_pump_during_apogee	441	1471	15064.83	WL_BB2F	719	105	1752.53
VBD_pump_during_surface	30	748	531.01	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	32	103	78.82	nil	0	0	0.00
Iridium_during_connect	44	160	165.18	nil	0	0	0.00
Iridium_during_xfer	137	223	713.43
Transponder_ping	9	420	87.70
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	29	50	14.94
TT8	1361	19	272.37
LPSleep	13785	2	304.92
TT8_Active	572	19	114.50
TT8_Sampling	2258	39	907.89
TT8_CF8	599	45	277.54
TT8_Kalman	33	81	27.55
Analog_circuits	1661	12	201.40
GPS_charging	0	0	0.00
Compass	2182	8	176.35
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
29	-1.81	-146.6	0.0	0.0	0	80	0.00	0.00	-49.75	0.000	2	0.000	0.000	33	2597	1991
85	-1.81	-146.6	3.2	-4.6	5	139	11.70	2.00	-34.90	0.000	4	0.163	0.100	2099	3621	3164
292	-1.81	-146.6	42.3	-18.6	24	298	0.00	1.83	0.00	0.000	6	0.000	0.049	2099	2607	3164
637	-1.81	-146.6	98.0	-14.5	75	640	0.00	1.95	0.00	0.000	4	0.000	0.081	2099	3630	3163
694	-1.81	-146.6	106.8	-15.4	80	698	0.00	1.85	0.00	0.000	6	0.000	0.049	2099	2601	3163
1028	-1.81	-146.6	153.1	-14.4	110	1032	0.00	2.53	0.00	0.000	4	0.000	0.052	2099	1196	3163
1078	-1.81	-146.6	160.8	-14.5	112	1082	0.00	2.53	0.00	0.000	6	0.000	0.047	2099	2602	3163
1394	-1.81	-146.6	203.4	-13.4	127	1396	0.00	0.00	0.00	0.000	6	0.000	0.000	2099	2603	3163
1704	-1.81	-146.6	245.0	-13.4	142	1705	0.00	0.00	0.00	0.000	6	0.000	0.000	2099	2603	3163
2013	-1.81	-146.6	286.7	-13.2	157	2017	0.00	2.55	0.00	0.000	4	0.000	0.053	2099	1196	3163
2076	-1.81	-146.6	294.9	-12.6	160	2080	0.00	2.55	0.00	0.000	6	0.000	0.050	2099	2603	3163
2438	-1.81	-146.6	340.5	-12.5	168	2439	0.00	0.00	0.00	0.000	6	0.000	0.000	2099	2603	3163
2743	-1.81	-146.6	378.9	-12.7	173	2747	0.00	2.58	0.00	0.000	4	0.000	0.062	2099	1203	3163
2810	-1.81	-146.6	387.8	-12.8	174	2814	0.00	2.58	0.00	0.000	6	0.000	0.061	2099	2602	3163
3171	-1.81	-146.6	432.4	-12.5	180	3172	0.00	0.00	0.00	0.000	6	0.000	0.000	2099	2601	3163
3473	-1.81	-146.6	473.4	-13.6	185	3474	0.00	0.00	0.00	0.000	6	0.000	0.000	2099	2602	3162
3776	-1.81	-146.6	515.6	-13.9	190	3780	0.00	2.75	0.00	0.000	4	0.000	0.098	2099	1208	3162
3820	-1.81	-146.6	521.7	-13.0	190	3825	0.00	2.75	0.00	0.000	6	0.000	0.095	2099	2602	3161
4135	-1.81	-146.6	561.6	-12.6	196	4136	0.00	0.00	0.00	0.000	6	0.000	0.000	2099	2602	3161
4440	-1.81	-146.6	598.6	-12.1	201	4444	0.00	2.72	0.00	0.000	4	0.000	0.091	2099	1201	3161
4495	-1.81	-146.6	605.7	-11.8	201	4501	0.00	2.75	0.00	0.000	6	0.000	0.092	2099	2606	3160
4805	-1.81	-146.6	643.0	-12.0	207	4806	0.00	0.00	0.00	0.000	6	0.000	0.000	2099	2607	3160
5109	-1.81	-146.6	678.4	-11.5	212	5110	0.00	0.00	0.00	0.000	6	0.000	0.000	2099	2607	3159
5411	-1.81	-146.6	712.3	-11.2	217	5416	0.00	2.70	0.00	0.000	4	0.000	0.087	2099	1209	3159
5501	-1.81	-146.6	722.7	-11.2	218	5506	0.00	2.70	0.00	0.000	6	0.000	0.088	2099	2602	3159
5840	-1.81	-146.6	760.6	-11.2	224	5841	0.00	0.00	0.00	0.000	6	0.000	0.000	2099	2601	3159
6144	-1.81	-146.6	794.3	-11.1	229	6145	0.00	0.00	0.00	0.000	6	0.000	0.000	2099	2602	3159
6446	-1.81	-146.6	826.6	-10.7	234	6451	0.00	2.67	0.00	0.000	4	0.000	0.086	2099	1210	3158
6525	-1.81	-146.6	835.4	-11.1	235	6530	0.00	2.70	0.00	0.000	6	0.000	0.088	2099	2603	3157
6874	-1.81	-146.6	870.0	-9.9	241	6875	0.00	0.00	0.00	0.000	6	0.000	0.000	2099	2603	3158
7178	-1.81	-146.6	900.1	-9.9	246	7183	0.00	2.70	0.00	0.000	4	0.000	0.087	2099	1200	3158
7223	-1.81	-146.6	904.9	-10.9	246	7228	0.00	2.70	0.00	0.000	6	0.000	0.086	2099	2601	3158
7539	-1.81	-146.6	937.3	-10.4	252	7543	0.00	2.67	0.00	0.000	4	0.000	0.086	2099	1209	3157
7572	-1.81	-146.6	941.1	-11.2	252	7577	0.00	2.67	0.00	0.000	6	0.000	0.085	2099	2600	3158
7900	-1.81	-146.6	975.6	-10.6	258	7901	0.00	0.00	0.00	0.000	6	0.000	0.000	2099	2599	3157
8077	end dive: TARGET_DEPTH_EXCEEDED
state	8078	begin apogee
8087	-0.45	0.0	994.5	10.5	261	8217	1.42	0.00	126.72	1.471	6	0.081	0.000	2397	2209	2564
8218	end apogee: CONTROL_FINISHED_OK
state	8218	begin climb
8221	1.81	146.6	998.9	0.0	263	8357	2.22	2.90	126.80	1.424	4	0.049	0.098	2900	788	1966
8617	1.81	146.6	968.7	11.6	269	8622	0.00	2.75	0.00	0.000	6	0.000	0.077	2900	2207	1966
8983	1.81	146.6	926.4	11.5	275	8987	0.00	2.80	0.00	0.000	4	0.000	0.093	2900	789	1965
9170	1.81	146.6	905.3	11.2	277	9175	0.00	2.72	0.00	0.000	6	0.000	0.077	2900	2205	1965
9480	1.81	146.6	872.7	10.3	282	9484	0.00	2.80	0.00	0.000	4	0.000	0.093	2900	790	1965
9737	1.81	146.6	845.0	11.6	285	9743	0.00	2.70	0.00	0.000	6	0.000	0.076	2900	2201	1965
10048	1.81	147.6	814.1	10.0	291	10052	0.00	2.78	0.00	0.000	4	0.000	0.092	2900	791	1964
10305	1.81	147.6	786.9	10.8	294	10311	0.00	2.70	0.00	0.000	6	0.000	0.076	2900	2203	1964
10615	1.81	147.6	754.2	10.6	300	10619	0.00	2.78	0.00	0.000	4	0.000	0.091	2900	791	1964
10755	1.81	147.6	739.0	11.3	302	10759	0.00	2.70	0.00	0.000	6	0.000	0.075	2900	2207	1964
11109	1.82	150.4	703.9	9.9	308	11119	0.00	2.80	4.65	0.927	4	0.000	0.092	2900	788	1951
11373	1.82	150.4	677.1	10.0	312	11378	0.00	2.70	0.00	0.000	6	0.000	0.076	2900	2201	1951
11740	1.83	163.5	642.6	9.4	318	11759	0.00	2.85	13.02	1.170	4	0.000	0.092	2900	792	1897
11945	1.83	163.5	619.8	10.4	321	11950	0.00	2.70	0.00	0.000	6	0.000	0.075	2900	2204	1897
12305	1.83	163.5	580.8	10.9	327	12310	0.00	2.78	0.00	0.000	4	0.000	0.091	2900	791	1897
12563	1.83	163.5	552.5	10.7	330	12569	0.00	2.67	0.00	0.000	6	0.000	0.074	2901	2201	1897
12873	1.83	163.6	521.5	10.0	336	12877	0.00	2.75	0.00	0.000	4	0.000	0.089	2900	786	1897
13099	1.84	168.2	498.4	9.8	339	13110	0.00	2.67	5.65	0.918	6	0.000	0.068	2900	2210	1878
13437	1.84	168.2	464.2	10.1	345	13441	0.00	2.72	0.00	0.000	4	0.000	0.082	2900	791	1878
13520	1.84	168.2	455.2	10.6	346	13525	0.00	2.62	0.00	0.000	6	0.000	0.061	2900	2211	1878
13864	1.84	168.2	419.9	10.4	352	13868	0.00	2.70	0.00	0.000	4	0.000	0.076	2900	788	1878
14099	1.85	176.2	396.3	9.6	355	14113	0.00	2.58	8.70	0.972	6	0.000	0.054	2900	2203	1845
14430	1.85	176.2	363.3	10.0	361	14434	0.00	2.65	0.00	0.000	4	0.000	0.067	2900	785	1844
14654	1.86	183.6	339.8	9.7	364	14668	0.00	2.55	7.93	0.921	6	0.000	0.048	2900	2203	1814
14997	1.86	183.6	304.5	10.3	370	14998	0.00	0.00	0.00	0.000	6	0.000	0.000	2900	2203	1814
15307	1.88	205.8	275.8	9.0	383	15332	0.00	2.72	19.45	0.972	4	0.000	0.064	2900	791	1725
15569	1.88	205.8	249.0	10.1	394	15575	0.00	2.55	0.00	0.000	6	0.000	0.046	2900	2211	1724
15886	1.88	205.8	216.4	10.3	410	15887	0.00	0.00	0.00	0.000	6	0.000	0.000	2900	2211	1725
16195	1.88	205.8	183.5	10.6	425	16199	0.00	2.62	0.00	0.000	4	0.000	0.063	2900	791	1725
16453	1.88	205.8	154.4	10.8	436	16459	0.00	2.53	0.00	0.000	6	0.000	0.045	2900	2203	1725
16780	1.88	205.8	122.1	10.1	465	16786	0.00	0.00	0.00	0.000	6	0.000	0.000	2900	2203	1725
17106	1.89	209.4	90.7	9.8	496	17118	0.00	2.62	4.88	0.676	4	0.000	0.061	2900	788	1710
17276	1.95	257.7	75.9	7.7	514	17322	0.10	2.53	39.85	0.842	6	0.107	0.044	2918	2204	1513
17665	1.95	257.7	37.5	10.2	580	17670	0.00	0.00	0.00	0.000	6	0.000	0.000	2918	2204	1513
17993	2.08	361.7	13.6	5.1	611	18085	0.15	2.72	83.75	0.787	4	0.063	0.078	2957	3607	1088
18131	end climb: SURFACE_DEPTH_REACHED
state	18131	begin surface coast
18153	end surface coast: CONTROL_FINISHED_OK
state	18153	begin surface