Glider dive log

NAB Apr08 * SG142 * Dive index * Mission links * Dive 234 * 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 310 PITCH_ADJ_GAIN 0.02 ALTIM_BOTTOM_TURN_MARGIN 0

DIVE 234 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 23 DEEPGLIDER 0

SURFACE_URGENCY 0 COMM_SEQ 0 R_STBD_OVSHOOT 22 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 -17379.035 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 -17379.035

CAPUPLOAD 0 HEADING 310 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 23 USE_ICE 0

DEEPGLIDER 0 MAX_BUOY 200 R_STBD_OVSHOOT 22 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 234 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 220608,6140.798,-2646.966,25,1.8,25,-19.0 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG 6147.810,-2650.930

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 0.93 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -50.1 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 221256,6140.868,-2647.021,11,1.3,11,-19.0 MHEAD_RNG_PITCHd_Wd 329.0,20000,-14.9,-10.000

SPEED_LIMITS 0.173,0.295 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.4,1.026127 XPDR_PINGS 873

SM_CCo 15803,0.00,0.000,0,0,1125,477.35 _24V_AH 19.3,73.646

SM_GC 0.76,8.45,0.00,0.00,0.048,0.000,0.000,1437,2303,1125,-6.79,0.08,477.35 _10V_AH 9.8,53.845

IRIDIUM_FIX 6112.75,-2639.97,180897,181840 DATA_FILE_SIZE 126549,1745

TT8_MAMPS 0.026845 CAP_FILE_SIZE 160821,0

HUMID 1802 CFSIZE 260165632,234041344

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

TCM_TEMP 16.40 GPS 250508,023738,6143.471,-2650.826,25,1.6,25,-19.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 253 123.71 SBE_CT 1229 24 569.70

Roll_motor 151 87 256.34 SBE_O2 1251 19 459.03

VBD_pump_during_apogee 704 1484 20181.53 Optode 662 33 421.82

VBD_pump_during_surface 0 0 0.00 WL_BB2F 1629 105 3301.96

VBD_valve 0 0 0.00 WL_BBFL2VMT 0 105 0.00

Iridium_during_init 28 103 56.11 nil 0 0 0.00

Iridium_during_connect 33 160 102.69 nil 0 0 0.00

Iridium_during_xfer 215 223 927.34

Transponder_ping 218 420 1769.13

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 13 50 6.41

TT8 2736 19 531.05

LPSleep 8838 2 189.68

TT8_Active 881 19 171.11

TT8_Sampling 3152 39 1229.61

TT8_CF8 586 45 263.04

TT8_Kalman 0 0 0.00

Analog_circuits 2306 12 271.22

GPS_charging 0 0 0.00

Compass 3145 8 246.62

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 26 begin dive

28 -0.86 -194.7 0.0 0.0 0 151 0.00 0.00 -120.10 0.000 2 0.000 0.000 1435 2286 3384

154 -0.86 -194.7 3.1 -4.6 22 190 11.85 2.85 -14.70 0.000 4 0.253 0.056 2723 895 3867

443 -0.82 -194.7 44.0 -14.7 73 450 0.00 2.70 0.00 0.000 6 0.000 0.029 2723 2302 3868

585 -0.75 -194.7 66.0 -14.8 98 592 0.15 2.83 0.00 0.000 4 0.139 0.045 2747 892 3868

640 -0.75 -194.7 72.7 -12.1 107 646 0.00 2.75 0.00 0.000 6 0.000 0.030 2747 2313 3868

984 -0.75 -194.7 107.8 -9.3 168 990 0.00 0.00 0.00 0.000 6 0.000 0.000 2747 2313 3868

1328 -0.75 -194.7 141.4 -10.6 229 1333 0.00 0.00 0.00 0.000 6 0.000 0.000 2747 2314 3869

1670 -0.75 -194.7 176.2 -10.5 290 1676 0.00 2.85 0.00 0.000 4 0.000 0.048 2747 892 3868

1729 -0.75 -194.7 182.7 -11.8 300 1735 0.00 2.72 0.00 0.000 6 0.000 0.031 2747 2307 3868

2072 -0.75 -194.7 222.5 -11.7 361 2077 0.00 0.00 0.00 0.000 6 0.000 0.000 2747 2308 3868

2414 -0.75 -194.7 263.6 -12.8 422 2420 0.00 0.00 0.00 0.000 6 0.000 0.000 2747 2308 3868

2758 -0.75 -194.7 303.0 -11.0 483 2764 0.00 2.85 0.00 0.000 4 0.000 0.048 2747 883 3868

2816 -0.80 -194.7 308.9 -10.0 493 2822 0.00 2.72 0.00 0.000 6 0.000 0.031 2747 2302 3868

3160 -0.80 -194.7 342.9 -9.6 554 3166 0.00 2.78 0.00 0.000 4 0.000 0.045 2747 3702 3868

3223 -0.80 -194.7 348.9 -9.4 565 3229 0.00 2.75 0.00 0.000 6 0.000 0.033 2747 2287 3868

3551 -0.80 -194.7 379.6 -9.5 597 3555 0.00 2.78 0.00 0.000 4 0.000 0.048 2747 886 3868

3606 -0.84 -194.7 385.3 -10.0 601 3612 0.00 2.72 0.00 0.000 6 0.000 0.030 2747 2303 3868

3932 -0.84 -194.7 415.0 -9.0 632 3937 0.00 2.78 0.00 0.000 4 0.000 0.046 2747 3700 3868

3994 -0.84 -194.7 420.9 -9.4 637 3999 0.00 2.75 0.00 0.000 6 0.000 0.034 2747 2291 3868

4323 -0.84 -194.7 450.5 -9.3 667 4327 0.00 2.80 0.00 0.000 4 0.000 0.049 2747 882 3868

4366 -0.84 -194.7 455.2 -9.6 670 4373 0.00 2.75 0.00 0.000 6 0.000 0.031 2747 2308 3868

4693 -0.84 -194.7 486.6 -10.1 701 4694 0.00 0.00 0.00 0.000 6 0.000 0.000 2747 2309 3868

5009 -0.84 -194.7 515.3 -7.9 731 5010 0.00 0.00 0.00 0.000 6 0.000 0.000 2747 2309 3868

5328 -0.84 -194.7 541.1 -8.7 761 5333 0.00 2.80 0.00 0.000 4 0.000 0.048 2747 3710 3867

5390 -0.84 -194.7 546.5 -8.6 766 5394 0.00 2.78 0.00 0.000 6 0.000 0.035 2747 2292 3867

5716 -0.84 -194.7 572.5 -8.0 796 5721 0.00 2.83 0.00 0.000 4 0.000 0.052 2747 883 3867

5756 -0.88 -194.7 576.0 -8.6 799 5761 0.00 2.75 0.00 0.000 6 0.000 0.031 2747 2303 3867

6083 -0.88 -194.7 604.3 -8.8 827 6087 0.00 2.83 0.00 0.000 4 0.000 0.052 2747 3704 3866

6138 -0.88 -194.7 609.7 -9.0 829 6144 0.00 2.78 0.00 0.000 6 0.000 0.038 2747 2301 3867

6453 -0.88 -194.7 638.9 -8.9 845 6458 0.00 2.88 0.00 0.000 4 0.000 0.058 2747 885 3867

6525 -0.92 -194.7 646.1 -10.9 848 6530 0.15 2.78 0.00 0.000 6 0.055 0.036 2715 2297 3866

6841 -0.88 -194.7 685.2 -11.5 863 6846 0.00 2.92 0.00 0.000 4 0.000 0.060 2715 883 3866

6885 -0.88 -194.7 690.0 -10.2 865 6889 0.00 2.78 0.00 0.000 6 0.000 0.039 2715 2285 3866

7213 -0.88 -194.7 722.7 -10.3 881 7214 0.00 0.00 0.00 0.000 6 0.000 0.000 2715 2286 3866

7521 -0.88 -194.7 758.2 -11.7 896 7525 0.00 3.03 0.00 0.000 4 0.000 0.081 2715 896 3866

7586 -0.88 -194.7 765.9 -11.8 899 7591 0.00 2.90 0.00 0.000 6 0.000 0.061 2715 2287 3865

7908 -0.88 -194.7 803.5 -12.0 915 7909 0.00 0.00 0.00 0.000 6 0.000 0.000 2715 2287 3865

8217 -1.25 -194.7 811.9 0.1 930 8219 0.35 0.00 0.00 0.000 6 0.071 0.000 2651 2287 3865

8296 end dive: NO_VERTICAL_VELOCITY

state 8297 begin apogee

8303 -0.21 0.0 811.8 0.0 934 8509 1.17 0.00 202.52 1.485 6 0.065 0.000 2871 2746 3071

8510 end apogee: CONTROL_FINISHED_OK

state 8510 begin climb

8512 0.86 194.7 811.7 0.0 944 8726 1.40 0.00 208.93 1.417 6 0.079 0.000 3104 2746 2277

9030 0.72 194.7 756.3 13.4 970 9035 0.17 2.50 0.00 0.000 4 0.127 0.074 3077 3903 2274

9057 0.61 194.7 752.4 12.6 971 9063 0.15 2.40 0.00 0.000 6 0.131 0.054 3057 2754 2274

9373 0.63 203.7 721.6 9.7 986 9385 0.00 0.00 10.10 1.165 6 0.000 0.000 3057 2754 2240

9682 0.63 207.0 691.4 9.9 1001 9692 0.00 2.42 5.10 0.932 4 0.000 0.066 3057 3911 2227

9714 0.63 207.0 687.8 11.6 1002 9721 0.00 2.33 0.00 0.000 6 0.000 0.041 3057 2753 2226

10029 0.63 207.0 654.6 10.4 1018 10030 0.00 0.00 0.00 0.000 6 0.000 0.000 3057 2752 2226

10339 0.63 210.5 623.6 9.9 1033 10346 0.00 0.00 5.07 0.920 6 0.000 0.000 3056 2752 2212

10649 0.70 263.5 597.2 8.2 1049 10709 0.00 0.00 54.53 1.351 6 0.000 0.000 3057 2752 1995

11028 0.72 280.2 563.1 9.4 1085 11052 0.00 2.97 17.62 1.234 4 0.000 0.050 3057 1327 1928

11210 0.73 292.3 545.7 9.6 1101 11231 0.12 2.85 13.90 1.197 6 0.064 0.032 3082 2768 1878

11556 0.69 292.3 504.5 11.9 1134 11560 0.00 2.90 0.00 0.000 4 0.000 0.044 3082 1331 1875

11655 0.69 292.3 492.3 11.6 1142 11662 0.00 2.80 0.00 0.000 6 0.000 0.034 3081 2750 1875

11983 0.64 292.3 453.2 11.7 1173 11987 0.15 2.28 0.00 0.000 4 0.108 0.049 3056 3893 1875

11999 0.64 292.3 451.2 11.1 1174 12003 0.00 2.20 0.00 0.000 6 0.000 0.031 3056 2743 1874

12329 0.72 354.6 422.7 7.8 1205 12399 0.00 0.00 63.67 1.238 6 0.000 0.000 3056 2738 1625

12718 0.92 472.9 397.1 5.9 1242 12851 0.32 2.50 122.75 1.197 4 0.044 0.048 3122 3887 1141

12885 0.82 472.9 371.6 18.7 1258 12889 0.15 2.25 0.00 0.000 6 0.104 0.031 3101 2763 1138

13220 0.77 472.9 322.4 14.8 1305 13226 0.00 2.30 0.00 0.000 4 0.000 0.048 3101 3892 1132

13234 0.72 472.9 320.3 14.7 1307 13241 0.15 2.17 0.00 0.000 6 0.112 0.030 3078 2771 1132

13578 0.77 472.9 282.5 10.4 1368 13585 0.00 2.85 0.00 0.000 4 0.000 0.045 3078 1341 1130

13598 0.83 472.9 280.5 10.8 1371 13604 0.12 2.78 0.00 0.000 6 0.055 0.031 3106 2763 1129

13942 0.77 472.9 226.1 15.5 1432 13949 0.00 2.25 0.00 0.000 4 0.000 0.048 3106 3899 1129

13955 0.72 472.9 224.0 15.0 1434 13962 0.17 2.17 0.00 0.000 6 0.107 0.031 3080 2763 1128

14299 0.77 472.9 187.0 10.6 1495 14306 0.00 2.83 0.00 0.000 4 0.000 0.045 3080 1342 1128

14324 0.82 472.9 184.4 10.9 1499 14330 0.00 2.75 0.00 0.000 6 0.000 0.030 3080 2760 1128

14668 0.88 472.9 146.8 10.5 1560 14675 0.15 2.83 0.00 0.000 4 0.051 0.044 3116 1340 1127

14694 0.88 472.9 143.6 12.9 1564 14700 0.00 2.70 0.00 0.000 6 0.000 0.031 3116 2733 1127

15039 0.80 472.9 84.5 16.6 1625 15047 0.12 2.30 0.00 0.000 4 0.104 0.047 3097 3898 1127

15098 0.80 472.9 75.7 12.8 1635 15104 0.00 2.17 0.00 0.000 6 0.000 0.031 3097 2763 1127

15441 0.80 472.9 35.2 11.9 1696 15447 0.00 2.83 0.00 0.000 4 0.000 0.046 3097 1339 1126

15461 0.80 472.9 32.8 12.1 1699 15467 0.00 2.75 0.00 0.000 6 0.000 0.030 3097 2764 1126

15603 0.80 472.9 13.7 12.6 1724 15610 0.00 2.83 0.00 0.000 4 0.000 0.044 3097 1343 1126

15616 0.80 472.9 11.8 12.3 1726 15623 0.00 2.67 0.00 0.000 6 0.000 0.031 3097 2724 1126

15706 end climb: SURFACE_DEPTH_REACHED

state 15706 begin surface coast

15724 end surface coast: CONTROL_FINISHED_OK

state 15724 begin surface

ID	142	HD_C	9.9999997e-06	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0
MISSION	5	HEADING	310	PITCH_ADJ_GAIN	0.02	ALTIM_BOTTOM_TURN_MARGIN	0
DIVE	234	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	23	DEEPGLIDER	0
SURFACE_URGENCY	0	COMM_SEQ	0	R_STBD_OVSHOOT	22	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	-17379.035	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	220608,6140.798,-2646.966,25,1.8,25,-19.0	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	6147.810,-2650.930
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	0.93	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-50.1	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	221256,6140.868,-2647.021,11,1.3,11,-19.0	MHEAD_RNG_PITCHd_Wd	329.0,20000,-14.9,-10.000
SPEED_LIMITS	0.173,0.295	D_GRID	990

FINISH	0.4,1.026127	XPDR_PINGS	873
SM_CCo	15803,0.00,0.000,0,0,1125,477.35	_24V_AH	19.3,73.646
SM_GC	0.76,8.45,0.00,0.00,0.048,0.000,0.000,1437,2303,1125,-6.79,0.08,477.35	_10V_AH	9.8,53.845
IRIDIUM_FIX	6112.75,-2639.97,180897,181840	DATA_FILE_SIZE	126549,1745
TT8_MAMPS	0.026845	CAP_FILE_SIZE	160821,0
HUMID	1802	CFSIZE	260165632,234041344
INTERNAL_PRESSURE	8.87775	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	16.40	GPS	250508,023738,6143.471,-2650.826,25,1.6,25,-19.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	253	123.71	SBE_CT	1229	24	569.70
Roll_motor	151	87	256.34	SBE_O2	1251	19	459.03
VBD_pump_during_apogee	704	1484	20181.53	Optode	662	33	421.82
VBD_pump_during_surface	0	0	0.00	WL_BB2F	1629	105	3301.96
VBD_valve	0	0	0.00	WL_BBFL2VMT	0	105	0.00
Iridium_during_init	28	103	56.11	nil	0	0	0.00
Iridium_during_connect	33	160	102.69	nil	0	0	0.00
Iridium_during_xfer	215	223	927.34
Transponder_ping	218	420	1769.13
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	13	50	6.41
TT8	2736	19	531.05
LPSleep	8838	2	189.68
TT8_Active	881	19	171.11
TT8_Sampling	3152	39	1229.61
TT8_CF8	586	45	263.04
TT8_Kalman	0	0	0.00
Analog_circuits	2306	12	271.22
GPS_charging	0	0	0.00
Compass	3145	8	246.62
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	26	begin dive
28	-0.86	-194.7	0.0	0.0	0	151	0.00	0.00	-120.10	0.000	2	0.000	0.000	1435	2286	3384
154	-0.86	-194.7	3.1	-4.6	22	190	11.85	2.85	-14.70	0.000	4	0.253	0.056	2723	895	3867
443	-0.82	-194.7	44.0	-14.7	73	450	0.00	2.70	0.00	0.000	6	0.000	0.029	2723	2302	3868
585	-0.75	-194.7	66.0	-14.8	98	592	0.15	2.83	0.00	0.000	4	0.139	0.045	2747	892	3868
640	-0.75	-194.7	72.7	-12.1	107	646	0.00	2.75	0.00	0.000	6	0.000	0.030	2747	2313	3868
984	-0.75	-194.7	107.8	-9.3	168	990	0.00	0.00	0.00	0.000	6	0.000	0.000	2747	2313	3868
1328	-0.75	-194.7	141.4	-10.6	229	1333	0.00	0.00	0.00	0.000	6	0.000	0.000	2747	2314	3869
1670	-0.75	-194.7	176.2	-10.5	290	1676	0.00	2.85	0.00	0.000	4	0.000	0.048	2747	892	3868
1729	-0.75	-194.7	182.7	-11.8	300	1735	0.00	2.72	0.00	0.000	6	0.000	0.031	2747	2307	3868
2072	-0.75	-194.7	222.5	-11.7	361	2077	0.00	0.00	0.00	0.000	6	0.000	0.000	2747	2308	3868
2414	-0.75	-194.7	263.6	-12.8	422	2420	0.00	0.00	0.00	0.000	6	0.000	0.000	2747	2308	3868
2758	-0.75	-194.7	303.0	-11.0	483	2764	0.00	2.85	0.00	0.000	4	0.000	0.048	2747	883	3868
2816	-0.80	-194.7	308.9	-10.0	493	2822	0.00	2.72	0.00	0.000	6	0.000	0.031	2747	2302	3868
3160	-0.80	-194.7	342.9	-9.6	554	3166	0.00	2.78	0.00	0.000	4	0.000	0.045	2747	3702	3868
3223	-0.80	-194.7	348.9	-9.4	565	3229	0.00	2.75	0.00	0.000	6	0.000	0.033	2747	2287	3868
3551	-0.80	-194.7	379.6	-9.5	597	3555	0.00	2.78	0.00	0.000	4	0.000	0.048	2747	886	3868
3606	-0.84	-194.7	385.3	-10.0	601	3612	0.00	2.72	0.00	0.000	6	0.000	0.030	2747	2303	3868
3932	-0.84	-194.7	415.0	-9.0	632	3937	0.00	2.78	0.00	0.000	4	0.000	0.046	2747	3700	3868
3994	-0.84	-194.7	420.9	-9.4	637	3999	0.00	2.75	0.00	0.000	6	0.000	0.034	2747	2291	3868
4323	-0.84	-194.7	450.5	-9.3	667	4327	0.00	2.80	0.00	0.000	4	0.000	0.049	2747	882	3868
4366	-0.84	-194.7	455.2	-9.6	670	4373	0.00	2.75	0.00	0.000	6	0.000	0.031	2747	2308	3868
4693	-0.84	-194.7	486.6	-10.1	701	4694	0.00	0.00	0.00	0.000	6	0.000	0.000	2747	2309	3868
5009	-0.84	-194.7	515.3	-7.9	731	5010	0.00	0.00	0.00	0.000	6	0.000	0.000	2747	2309	3868
5328	-0.84	-194.7	541.1	-8.7	761	5333	0.00	2.80	0.00	0.000	4	0.000	0.048	2747	3710	3867
5390	-0.84	-194.7	546.5	-8.6	766	5394	0.00	2.78	0.00	0.000	6	0.000	0.035	2747	2292	3867
5716	-0.84	-194.7	572.5	-8.0	796	5721	0.00	2.83	0.00	0.000	4	0.000	0.052	2747	883	3867
5756	-0.88	-194.7	576.0	-8.6	799	5761	0.00	2.75	0.00	0.000	6	0.000	0.031	2747	2303	3867
6083	-0.88	-194.7	604.3	-8.8	827	6087	0.00	2.83	0.00	0.000	4	0.000	0.052	2747	3704	3866
6138	-0.88	-194.7	609.7	-9.0	829	6144	0.00	2.78	0.00	0.000	6	0.000	0.038	2747	2301	3867
6453	-0.88	-194.7	638.9	-8.9	845	6458	0.00	2.88	0.00	0.000	4	0.000	0.058	2747	885	3867
6525	-0.92	-194.7	646.1	-10.9	848	6530	0.15	2.78	0.00	0.000	6	0.055	0.036	2715	2297	3866
6841	-0.88	-194.7	685.2	-11.5	863	6846	0.00	2.92	0.00	0.000	4	0.000	0.060	2715	883	3866
6885	-0.88	-194.7	690.0	-10.2	865	6889	0.00	2.78	0.00	0.000	6	0.000	0.039	2715	2285	3866
7213	-0.88	-194.7	722.7	-10.3	881	7214	0.00	0.00	0.00	0.000	6	0.000	0.000	2715	2286	3866
7521	-0.88	-194.7	758.2	-11.7	896	7525	0.00	3.03	0.00	0.000	4	0.000	0.081	2715	896	3866
7586	-0.88	-194.7	765.9	-11.8	899	7591	0.00	2.90	0.00	0.000	6	0.000	0.061	2715	2287	3865
7908	-0.88	-194.7	803.5	-12.0	915	7909	0.00	0.00	0.00	0.000	6	0.000	0.000	2715	2287	3865
8217	-1.25	-194.7	811.9	0.1	930	8219	0.35	0.00	0.00	0.000	6	0.071	0.000	2651	2287	3865
8296	end dive: NO_VERTICAL_VELOCITY
state	8297	begin apogee
8303	-0.21	0.0	811.8	0.0	934	8509	1.17	0.00	202.52	1.485	6	0.065	0.000	2871	2746	3071
8510	end apogee: CONTROL_FINISHED_OK
state	8510	begin climb
8512	0.86	194.7	811.7	0.0	944	8726	1.40	0.00	208.93	1.417	6	0.079	0.000	3104	2746	2277
9030	0.72	194.7	756.3	13.4	970	9035	0.17	2.50	0.00	0.000	4	0.127	0.074	3077	3903	2274
9057	0.61	194.7	752.4	12.6	971	9063	0.15	2.40	0.00	0.000	6	0.131	0.054	3057	2754	2274
9373	0.63	203.7	721.6	9.7	986	9385	0.00	0.00	10.10	1.165	6	0.000	0.000	3057	2754	2240
9682	0.63	207.0	691.4	9.9	1001	9692	0.00	2.42	5.10	0.932	4	0.000	0.066	3057	3911	2227
9714	0.63	207.0	687.8	11.6	1002	9721	0.00	2.33	0.00	0.000	6	0.000	0.041	3057	2753	2226
10029	0.63	207.0	654.6	10.4	1018	10030	0.00	0.00	0.00	0.000	6	0.000	0.000	3057	2752	2226
10339	0.63	210.5	623.6	9.9	1033	10346	0.00	0.00	5.07	0.920	6	0.000	0.000	3056	2752	2212
10649	0.70	263.5	597.2	8.2	1049	10709	0.00	0.00	54.53	1.351	6	0.000	0.000	3057	2752	1995
11028	0.72	280.2	563.1	9.4	1085	11052	0.00	2.97	17.62	1.234	4	0.000	0.050	3057	1327	1928
11210	0.73	292.3	545.7	9.6	1101	11231	0.12	2.85	13.90	1.197	6	0.064	0.032	3082	2768	1878
11556	0.69	292.3	504.5	11.9	1134	11560	0.00	2.90	0.00	0.000	4	0.000	0.044	3082	1331	1875
11655	0.69	292.3	492.3	11.6	1142	11662	0.00	2.80	0.00	0.000	6	0.000	0.034	3081	2750	1875
11983	0.64	292.3	453.2	11.7	1173	11987	0.15	2.28	0.00	0.000	4	0.108	0.049	3056	3893	1875
11999	0.64	292.3	451.2	11.1	1174	12003	0.00	2.20	0.00	0.000	6	0.000	0.031	3056	2743	1874
12329	0.72	354.6	422.7	7.8	1205	12399	0.00	0.00	63.67	1.238	6	0.000	0.000	3056	2738	1625
12718	0.92	472.9	397.1	5.9	1242	12851	0.32	2.50	122.75	1.197	4	0.044	0.048	3122	3887	1141
12885	0.82	472.9	371.6	18.7	1258	12889	0.15	2.25	0.00	0.000	6	0.104	0.031	3101	2763	1138
13220	0.77	472.9	322.4	14.8	1305	13226	0.00	2.30	0.00	0.000	4	0.000	0.048	3101	3892	1132
13234	0.72	472.9	320.3	14.7	1307	13241	0.15	2.17	0.00	0.000	6	0.112	0.030	3078	2771	1132
13578	0.77	472.9	282.5	10.4	1368	13585	0.00	2.85	0.00	0.000	4	0.000	0.045	3078	1341	1130
13598	0.83	472.9	280.5	10.8	1371	13604	0.12	2.78	0.00	0.000	6	0.055	0.031	3106	2763	1129
13942	0.77	472.9	226.1	15.5	1432	13949	0.00	2.25	0.00	0.000	4	0.000	0.048	3106	3899	1129
13955	0.72	472.9	224.0	15.0	1434	13962	0.17	2.17	0.00	0.000	6	0.107	0.031	3080	2763	1128
14299	0.77	472.9	187.0	10.6	1495	14306	0.00	2.83	0.00	0.000	4	0.000	0.045	3080	1342	1128
14324	0.82	472.9	184.4	10.9	1499	14330	0.00	2.75	0.00	0.000	6	0.000	0.030	3080	2760	1128
14668	0.88	472.9	146.8	10.5	1560	14675	0.15	2.83	0.00	0.000	4	0.051	0.044	3116	1340	1127
14694	0.88	472.9	143.6	12.9	1564	14700	0.00	2.70	0.00	0.000	6	0.000	0.031	3116	2733	1127
15039	0.80	472.9	84.5	16.6	1625	15047	0.12	2.30	0.00	0.000	4	0.104	0.047	3097	3898	1127
15098	0.80	472.9	75.7	12.8	1635	15104	0.00	2.17	0.00	0.000	6	0.000	0.031	3097	2763	1127
15441	0.80	472.9	35.2	11.9	1696	15447	0.00	2.83	0.00	0.000	4	0.000	0.046	3097	1339	1126
15461	0.80	472.9	32.8	12.1	1699	15467	0.00	2.75	0.00	0.000	6	0.000	0.030	3097	2764	1126
15603	0.80	472.9	13.7	12.6	1724	15610	0.00	2.83	0.00	0.000	4	0.000	0.044	3097	1343	1126
15616	0.80	472.9	11.8	12.3	1726	15623	0.00	2.67	0.00	0.000	6	0.000	0.031	3097	2724	1126
15706	end climb: SURFACE_DEPTH_REACHED
state	15706	begin surface coast
15724	end surface coast: CONTROL_FINISHED_OK
state	15724	begin surface