Glider dive log

WA coast Apr08 * SG101 * Dive index * Mission links * Dive 27 * 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 27 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 16 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 -691185.06 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 -691185.06

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 16 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 27 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 113838,4754.163,-12605.097,43,1.6,43,18.8 TGT_NAME SW_47N_128W

_CALLS 1 TGT_LATLONG 4700.000,-12800.000

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.244,-0.090

_SM_DEPTHo 1.42 KALMAN_X 15950.2,-807.3,-121.4,-48266.8,2091.4

_SM_ANGLEo -66.5 KALMAN_Y 480.1,-110.7,13.1,-25674.7,-71.5

GPS2 114351,4754.127,-12605.087,12,1.5,12,18.8 MHEAD_RNG_PITCHd_Wd 231.0,176394,-17.9,-10.000

SPEED_LIMITS 0.165,0.247 D_GRID 1001

Post-dive calculations and measurements:

FINISH 0.7,1.013928 ALTIM_TOP_PING 19.7,20.0

SM_CCo 17762,30.90,0.746,0,0,933,400.08 _24V_AH 23.2,7.298

SM_GC 1.61,0.00,0.00,30.90,0.000,0.000,0.746,34,2599,933,-11.34,-0.03,400.08 _10V_AH 10.1,3.276

IRIDIUM_FIX 4738.89,-12557.63,290697,060647 DATA_FILE_SIZE 31696,610

TT8_MAMPS 0.026078 CAP_FILE_SIZE 129772,0

HUMID 1811 CFSIZE 260165632,256917504

INTERNAL_PRESSURE 8.848 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,1,0,0

TCM_TEMP 17.00 GPS 040408,164238,4753.542,-12608.463,29,1.4,29,18.8

XPDR_PINGS 2

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 29 158 109.86 SBE_CT 423 24 235.78

Roll_motor 155 105 377.86 SBE_O2 492 19 217.28

VBD_pump_during_apogee 441 1468 15019.79 WL_BB2F 691 105 1685.39

VBD_pump_during_surface 30 745 534.45 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 26 103 62.75 nil 0 0 0.00

Iridium_during_connect 33 160 125.06 nil 0 0 0.00

Iridium_during_xfer 127 223 660.70

Transponder_ping 9 420 92.57

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 12 50 6.10

TT8 1327 19 265.47

LPSleep 13462 2 297.78

TT8_Active 583 19 116.62

TT8_Sampling 2182 39 877.36

TT8_CF8 561 45 259.69

TT8_Kalman 33 81 27.56

Analog_circuits 1653 12 200.38

GPS_charging 0 0 0.00

Compass 2125 8 171.75

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

28 -1.81 -146.6 0.0 0.0 0 85 0.00 0.00 -54.95 0.000 2 0.000 0.000 35 2606 2089

90 -1.81 -146.6 3.5 -5.2 6 136 11.52 1.95 -30.15 0.000 4 0.159 0.098 2096 3629 3163

386 -1.81 -146.6 59.9 -18.5 41 392 0.00 1.88 0.00 0.000 6 0.000 0.047 2096 2581 3162

723 -1.81 -146.6 115.5 -15.9 82 725 0.00 0.00 0.00 0.000 6 0.000 0.000 2096 2581 3162

1039 -1.81 -146.6 164.1 -15.4 108 1041 0.00 0.00 0.00 0.000 6 0.000 0.000 2096 2581 3162

1349 -1.81 -146.6 210.4 -14.8 123 1350 0.00 0.00 0.00 0.000 6 0.000 0.000 2096 2581 3162

1658 -1.81 -146.6 255.7 -14.7 138 1662 0.00 2.47 0.00 0.000 4 0.000 0.053 2096 1206 3162

1697 -1.81 -146.6 261.6 -14.8 139 1703 0.00 2.50 0.00 0.000 6 0.000 0.047 2096 2605 3162

2032 -1.81 -146.6 309.4 -14.0 154 2037 0.00 2.55 0.00 0.000 4 0.000 0.054 2096 1196 3162

2077 -1.81 -146.6 315.9 -13.4 154 2082 0.00 2.53 0.00 0.000 6 0.000 0.048 2096 2600 3162

2394 -1.81 -146.6 358.2 -13.5 160 2395 0.00 0.00 0.00 0.000 6 0.000 0.000 2096 2601 3162

2696 -1.81 -146.6 398.6 -13.3 165 2697 0.00 0.00 0.00 0.000 6 0.000 0.000 2096 2601 3162

2999 -1.81 -146.6 437.8 -13.0 170 3003 0.00 2.62 0.00 0.000 4 0.000 0.075 2096 1208 3161

3083 -1.81 -146.6 448.5 -12.4 171 3088 0.00 2.62 0.00 0.000 6 0.000 0.073 2096 2602 3161

3426 -1.81 -146.6 492.4 -12.9 177 3427 0.00 0.00 0.00 0.000 6 0.000 0.000 2096 2602 3160

3730 -1.81 -146.6 530.9 -12.6 182 3735 0.00 2.80 0.00 0.000 4 0.000 0.105 2096 1203 3160

3803 -1.81 -146.6 540.3 -12.2 183 3808 0.00 2.80 0.00 0.000 6 0.000 0.105 2096 2597 3160

4158 -1.81 -146.6 583.4 -12.3 189 4162 0.00 2.72 0.00 0.000 4 0.000 0.094 2096 1201 3160

4213 -1.81 -146.6 590.2 -12.3 189 4220 0.00 2.72 0.00 0.000 6 0.000 0.091 2096 2602 3159

4524 -1.81 -146.6 626.9 -11.8 195 4529 0.00 2.70 0.00 0.000 4 0.000 0.091 2096 1211 3159

4563 -1.81 -146.6 631.8 -11.6 195 4567 0.00 2.70 0.00 0.000 6 0.000 0.087 2096 2607 3159

4883 -1.81 -146.6 669.6 -11.8 201 4888 0.00 2.70 0.00 0.000 4 0.000 0.089 2096 1210 3158

4917 -1.81 -146.6 673.6 -12.3 201 4921 0.00 2.67 0.00 0.000 6 0.000 0.084 2096 2601 3158

5243 -1.81 -146.6 712.9 -12.1 207 5247 0.00 2.70 0.00 0.000 4 0.000 0.088 2096 1201 3158

5282 -1.81 -146.6 717.6 -11.7 207 5286 0.00 2.70 0.00 0.000 6 0.000 0.084 2096 2606 3158

5603 -1.81 -146.6 754.2 -11.4 213 5604 0.00 0.00 0.00 0.000 6 0.000 0.000 2096 2606 3157

5905 -1.81 -146.6 789.3 -11.5 218 5910 0.00 2.70 0.00 0.000 4 0.000 0.087 2096 1206 3158

5950 -1.81 -146.6 794.4 -10.9 218 5955 0.00 2.67 0.00 0.000 6 0.000 0.083 2096 2601 3157

6267 -1.81 -146.6 830.4 -11.4 224 6268 0.00 0.00 0.00 0.000 6 0.000 0.000 2096 2601 3157

6569 -1.81 -146.6 864.3 -11.1 229 6570 0.00 0.00 0.00 0.000 6 0.000 0.000 2096 2601 3157

6872 -1.81 -146.6 899.1 -11.6 234 6876 0.00 2.70 0.00 0.000 4 0.000 0.087 2096 1200 3157

6934 -1.81 -146.6 906.7 -11.4 235 6939 0.00 2.70 0.00 0.000 6 0.000 0.082 2096 2607 3157

7300 -1.81 -146.6 948.9 -11.3 241 7302 0.00 0.00 0.00 0.000 6 0.000 0.000 2096 2608 3157

7604 -1.81 -146.6 981.9 -10.8 246 7609 0.00 2.70 0.00 0.000 4 0.000 0.086 2096 1202 3156

7649 -1.81 -146.6 987.2 -11.3 246 7654 0.00 2.67 0.00 0.000 6 0.000 0.081 2096 2601 3156

7718 end dive: TARGET_DEPTH_EXCEEDED

state 7718 begin apogee

7727 -0.45 0.0 995.2 11.3 248 7858 1.45 0.00 126.68 1.468 6 0.078 0.000 2401 2220 2564

7858 end apogee: CONTROL_FINISHED_OK

state 7858 begin climb

7862 1.81 146.6 1000.9 0.0 250 7998 2.17 2.92 126.88 1.419 4 0.044 0.097 2897 783 1966

8257 1.82 150.5 976.7 9.8 256 8267 0.00 2.72 5.18 0.994 6 0.000 0.074 2897 2202 1950

8617 1.82 150.5 940.0 10.2 262 8622 0.00 2.80 0.00 0.000 4 0.000 0.093 2897 781 1950

8874 1.82 150.5 910.0 12.5 265 8880 0.00 2.72 0.00 0.000 6 0.000 0.076 2897 2204 1950

9184 1.82 150.5 874.1 11.5 271 9189 0.00 2.80 0.00 0.000 4 0.000 0.092 2897 786 1949

9430 1.82 150.5 844.5 11.4 274 9435 0.00 2.72 0.00 0.000 6 0.000 0.076 2897 2208 1949

9745 1.82 150.5 811.1 10.4 280 9750 0.00 2.80 0.00 0.000 4 0.000 0.091 2897 781 1949

9927 1.82 150.5 791.9 11.3 282 9931 0.00 2.70 0.00 0.000 6 0.000 0.075 2897 2201 1949

10242 1.82 150.5 759.3 10.3 288 10243 0.00 0.00 0.00 0.000 6 0.000 0.000 2897 2202 1949

10545 1.82 150.5 728.7 10.1 293 10549 0.00 2.78 0.00 0.000 4 0.000 0.091 2897 783 1949

10803 1.82 150.5 701.4 10.2 296 10809 0.00 2.70 0.00 0.000 6 0.000 0.075 2897 2203 1948

11113 1.82 158.1 671.3 9.6 302 11127 0.00 2.83 8.05 1.105 4 0.000 0.090 2897 791 1919

11281 1.82 158.1 654.6 10.7 304 11285 0.00 2.67 0.00 0.000 6 0.000 0.074 2897 2201 1919

11613 1.85 177.1 623.9 9.1 310 11632 0.00 0.00 17.65 1.189 6 0.000 0.000 2897 2201 1842

11915 1.85 177.1 592.4 10.7 315 11920 0.00 2.78 0.00 0.000 4 0.000 0.090 2897 784 1842

12173 1.85 177.1 563.1 12.5 318 12179 0.00 2.67 0.00 0.000 6 0.000 0.071 2897 2202 1842

12483 1.85 177.1 529.9 10.7 324 12487 0.00 2.75 0.00 0.000 4 0.000 0.086 2897 781 1842

12740 1.85 177.1 501.6 11.2 327 12746 0.00 2.65 0.00 0.000 6 0.000 0.065 2897 2203 1842

13050 1.85 177.1 470.2 10.1 333 13055 0.00 2.72 0.00 0.000 4 0.000 0.081 2897 780 1842

13185 1.85 177.1 456.2 10.3 335 13190 0.00 2.62 0.00 0.000 6 0.000 0.058 2897 2207 1842

13546 1.85 177.1 419.8 10.1 341 13550 0.00 2.67 0.00 0.000 4 0.000 0.073 2897 788 1842

13747 1.85 177.1 399.0 10.8 344 13751 0.00 2.58 0.00 0.000 6 0.000 0.051 2897 2213 1842

14107 1.86 190.5 364.5 9.4 350 14126 0.00 2.75 12.50 1.004 4 0.000 0.067 2898 788 1787

14302 1.88 207.1 345.3 9.2 352 14322 0.00 2.55 15.52 0.998 6 0.000 0.048 2897 2203 1719

14672 1.88 207.1 307.2 10.5 359 14676 0.00 2.65 0.00 0.000 4 0.000 0.065 2897 783 1719

14806 1.88 207.1 292.3 10.6 361 14811 0.00 2.55 0.00 0.000 6 0.000 0.046 2897 2203 1719

15129 1.88 207.1 256.4 11.5 377 15133 0.00 2.62 0.00 0.000 4 0.000 0.064 2897 788 1719

15342 1.88 207.1 231.2 12.0 386 15348 0.00 2.55 0.00 0.000 6 0.000 0.046 2897 2213 1719

15658 1.88 207.1 196.4 10.7 402 15663 0.00 2.65 0.00 0.000 4 0.000 0.063 2897 778 1719

15709 1.88 207.1 190.6 11.7 404 15713 0.00 2.55 0.00 0.000 6 0.000 0.044 2896 2208 1719

16026 1.89 207.5 158.7 10.0 419 16030 0.00 2.62 0.00 0.000 4 0.000 0.062 2897 782 1719

16284 1.89 213.9 132.6 9.7 437 16301 0.00 2.53 7.68 0.796 6 0.000 0.044 2897 2203 1691

16622 1.89 213.9 97.3 10.1 469 16626 0.00 2.60 0.00 0.000 4 0.000 0.060 2897 787 1691

16730 1.89 213.9 86.5 10.0 478 16734 0.00 2.53 0.00 0.000 6 0.000 0.044 2897 2202 1691

17070 1.95 263.3 58.7 7.7 531 17117 0.12 2.72 40.05 0.831 4 0.070 0.060 2926 788 1490

17292 1.99 288.7 37.8 8.8 568 17320 0.00 2.53 21.92 0.788 6 0.000 0.044 2926 2201 1386

17640 2.07 360.9 9.1 6.6 601 17704 0.10 0.00 58.90 0.775 6 0.072 0.000 2950 2201 1093

17712 end climb: SURFACE_DEPTH_REACHED

state 17712 begin surface coast

17734 end surface coast: CONTROL_FINISHED_OK

state 17734 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	27	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	16	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	-691185.06	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	113838,4754.163,-12605.097,43,1.6,43,18.8	TGT_NAME	SW_47N_128W
_CALLS	1	TGT_LATLONG	4700.000,-12800.000
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.244,-0.090
_SM_DEPTHo	1.42	KALMAN_X	15950.2,-807.3,-121.4,-48266.8,2091.4
_SM_ANGLEo	-66.5	KALMAN_Y	480.1,-110.7,13.1,-25674.7,-71.5
GPS2	114351,4754.127,-12605.087,12,1.5,12,18.8	MHEAD_RNG_PITCHd_Wd	231.0,176394,-17.9,-10.000
SPEED_LIMITS	0.165,0.247	D_GRID	1001

FINISH	0.7,1.013928	ALTIM_TOP_PING	19.7,20.0
SM_CCo	17762,30.90,0.746,0,0,933,400.08	_24V_AH	23.2,7.298
SM_GC	1.61,0.00,0.00,30.90,0.000,0.000,0.746,34,2599,933,-11.34,-0.03,400.08	_10V_AH	10.1,3.276
IRIDIUM_FIX	4738.89,-12557.63,290697,060647	DATA_FILE_SIZE	31696,610
TT8_MAMPS	0.026078	CAP_FILE_SIZE	129772,0
HUMID	1811	CFSIZE	260165632,256917504
INTERNAL_PRESSURE	8.848	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
TCM_TEMP	17.00	GPS	040408,164238,4753.542,-12608.463,29,1.4,29,18.8
XPDR_PINGS	2

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	29	158	109.86	SBE_CT	423	24	235.78
Roll_motor	155	105	377.86	SBE_O2	492	19	217.28
VBD_pump_during_apogee	441	1468	15019.79	WL_BB2F	691	105	1685.39
VBD_pump_during_surface	30	745	534.45	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	26	103	62.75	nil	0	0	0.00
Iridium_during_connect	33	160	125.06	nil	0	0	0.00
Iridium_during_xfer	127	223	660.70
Transponder_ping	9	420	92.57
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	12	50	6.10
TT8	1327	19	265.47
LPSleep	13462	2	297.78
TT8_Active	583	19	116.62
TT8_Sampling	2182	39	877.36
TT8_CF8	561	45	259.69
TT8_Kalman	33	81	27.56
Analog_circuits	1653	12	200.38
GPS_charging	0	0	0.00
Compass	2125	8	171.75
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
28	-1.81	-146.6	0.0	0.0	0	85	0.00	0.00	-54.95	0.000	2	0.000	0.000	35	2606	2089
90	-1.81	-146.6	3.5	-5.2	6	136	11.52	1.95	-30.15	0.000	4	0.159	0.098	2096	3629	3163
386	-1.81	-146.6	59.9	-18.5	41	392	0.00	1.88	0.00	0.000	6	0.000	0.047	2096	2581	3162
723	-1.81	-146.6	115.5	-15.9	82	725	0.00	0.00	0.00	0.000	6	0.000	0.000	2096	2581	3162
1039	-1.81	-146.6	164.1	-15.4	108	1041	0.00	0.00	0.00	0.000	6	0.000	0.000	2096	2581	3162
1349	-1.81	-146.6	210.4	-14.8	123	1350	0.00	0.00	0.00	0.000	6	0.000	0.000	2096	2581	3162
1658	-1.81	-146.6	255.7	-14.7	138	1662	0.00	2.47	0.00	0.000	4	0.000	0.053	2096	1206	3162
1697	-1.81	-146.6	261.6	-14.8	139	1703	0.00	2.50	0.00	0.000	6	0.000	0.047	2096	2605	3162
2032	-1.81	-146.6	309.4	-14.0	154	2037	0.00	2.55	0.00	0.000	4	0.000	0.054	2096	1196	3162
2077	-1.81	-146.6	315.9	-13.4	154	2082	0.00	2.53	0.00	0.000	6	0.000	0.048	2096	2600	3162
2394	-1.81	-146.6	358.2	-13.5	160	2395	0.00	0.00	0.00	0.000	6	0.000	0.000	2096	2601	3162
2696	-1.81	-146.6	398.6	-13.3	165	2697	0.00	0.00	0.00	0.000	6	0.000	0.000	2096	2601	3162
2999	-1.81	-146.6	437.8	-13.0	170	3003	0.00	2.62	0.00	0.000	4	0.000	0.075	2096	1208	3161
3083	-1.81	-146.6	448.5	-12.4	171	3088	0.00	2.62	0.00	0.000	6	0.000	0.073	2096	2602	3161
3426	-1.81	-146.6	492.4	-12.9	177	3427	0.00	0.00	0.00	0.000	6	0.000	0.000	2096	2602	3160
3730	-1.81	-146.6	530.9	-12.6	182	3735	0.00	2.80	0.00	0.000	4	0.000	0.105	2096	1203	3160
3803	-1.81	-146.6	540.3	-12.2	183	3808	0.00	2.80	0.00	0.000	6	0.000	0.105	2096	2597	3160
4158	-1.81	-146.6	583.4	-12.3	189	4162	0.00	2.72	0.00	0.000	4	0.000	0.094	2096	1201	3160
4213	-1.81	-146.6	590.2	-12.3	189	4220	0.00	2.72	0.00	0.000	6	0.000	0.091	2096	2602	3159
4524	-1.81	-146.6	626.9	-11.8	195	4529	0.00	2.70	0.00	0.000	4	0.000	0.091	2096	1211	3159
4563	-1.81	-146.6	631.8	-11.6	195	4567	0.00	2.70	0.00	0.000	6	0.000	0.087	2096	2607	3159
4883	-1.81	-146.6	669.6	-11.8	201	4888	0.00	2.70	0.00	0.000	4	0.000	0.089	2096	1210	3158
4917	-1.81	-146.6	673.6	-12.3	201	4921	0.00	2.67	0.00	0.000	6	0.000	0.084	2096	2601	3158
5243	-1.81	-146.6	712.9	-12.1	207	5247	0.00	2.70	0.00	0.000	4	0.000	0.088	2096	1201	3158
5282	-1.81	-146.6	717.6	-11.7	207	5286	0.00	2.70	0.00	0.000	6	0.000	0.084	2096	2606	3158
5603	-1.81	-146.6	754.2	-11.4	213	5604	0.00	0.00	0.00	0.000	6	0.000	0.000	2096	2606	3157
5905	-1.81	-146.6	789.3	-11.5	218	5910	0.00	2.70	0.00	0.000	4	0.000	0.087	2096	1206	3158
5950	-1.81	-146.6	794.4	-10.9	218	5955	0.00	2.67	0.00	0.000	6	0.000	0.083	2096	2601	3157
6267	-1.81	-146.6	830.4	-11.4	224	6268	0.00	0.00	0.00	0.000	6	0.000	0.000	2096	2601	3157
6569	-1.81	-146.6	864.3	-11.1	229	6570	0.00	0.00	0.00	0.000	6	0.000	0.000	2096	2601	3157
6872	-1.81	-146.6	899.1	-11.6	234	6876	0.00	2.70	0.00	0.000	4	0.000	0.087	2096	1200	3157
6934	-1.81	-146.6	906.7	-11.4	235	6939	0.00	2.70	0.00	0.000	6	0.000	0.082	2096	2607	3157
7300	-1.81	-146.6	948.9	-11.3	241	7302	0.00	0.00	0.00	0.000	6	0.000	0.000	2096	2608	3157
7604	-1.81	-146.6	981.9	-10.8	246	7609	0.00	2.70	0.00	0.000	4	0.000	0.086	2096	1202	3156
7649	-1.81	-146.6	987.2	-11.3	246	7654	0.00	2.67	0.00	0.000	6	0.000	0.081	2096	2601	3156
7718	end dive: TARGET_DEPTH_EXCEEDED
state	7718	begin apogee
7727	-0.45	0.0	995.2	11.3	248	7858	1.45	0.00	126.68	1.468	6	0.078	0.000	2401	2220	2564
7858	end apogee: CONTROL_FINISHED_OK
state	7858	begin climb
7862	1.81	146.6	1000.9	0.0	250	7998	2.17	2.92	126.88	1.419	4	0.044	0.097	2897	783	1966
8257	1.82	150.5	976.7	9.8	256	8267	0.00	2.72	5.18	0.994	6	0.000	0.074	2897	2202	1950
8617	1.82	150.5	940.0	10.2	262	8622	0.00	2.80	0.00	0.000	4	0.000	0.093	2897	781	1950
8874	1.82	150.5	910.0	12.5	265	8880	0.00	2.72	0.00	0.000	6	0.000	0.076	2897	2204	1950
9184	1.82	150.5	874.1	11.5	271	9189	0.00	2.80	0.00	0.000	4	0.000	0.092	2897	786	1949
9430	1.82	150.5	844.5	11.4	274	9435	0.00	2.72	0.00	0.000	6	0.000	0.076	2897	2208	1949
9745	1.82	150.5	811.1	10.4	280	9750	0.00	2.80	0.00	0.000	4	0.000	0.091	2897	781	1949
9927	1.82	150.5	791.9	11.3	282	9931	0.00	2.70	0.00	0.000	6	0.000	0.075	2897	2201	1949
10242	1.82	150.5	759.3	10.3	288	10243	0.00	0.00	0.00	0.000	6	0.000	0.000	2897	2202	1949
10545	1.82	150.5	728.7	10.1	293	10549	0.00	2.78	0.00	0.000	4	0.000	0.091	2897	783	1949
10803	1.82	150.5	701.4	10.2	296	10809	0.00	2.70	0.00	0.000	6	0.000	0.075	2897	2203	1948
11113	1.82	158.1	671.3	9.6	302	11127	0.00	2.83	8.05	1.105	4	0.000	0.090	2897	791	1919
11281	1.82	158.1	654.6	10.7	304	11285	0.00	2.67	0.00	0.000	6	0.000	0.074	2897	2201	1919
11613	1.85	177.1	623.9	9.1	310	11632	0.00	0.00	17.65	1.189	6	0.000	0.000	2897	2201	1842
11915	1.85	177.1	592.4	10.7	315	11920	0.00	2.78	0.00	0.000	4	0.000	0.090	2897	784	1842
12173	1.85	177.1	563.1	12.5	318	12179	0.00	2.67	0.00	0.000	6	0.000	0.071	2897	2202	1842
12483	1.85	177.1	529.9	10.7	324	12487	0.00	2.75	0.00	0.000	4	0.000	0.086	2897	781	1842
12740	1.85	177.1	501.6	11.2	327	12746	0.00	2.65	0.00	0.000	6	0.000	0.065	2897	2203	1842
13050	1.85	177.1	470.2	10.1	333	13055	0.00	2.72	0.00	0.000	4	0.000	0.081	2897	780	1842
13185	1.85	177.1	456.2	10.3	335	13190	0.00	2.62	0.00	0.000	6	0.000	0.058	2897	2207	1842
13546	1.85	177.1	419.8	10.1	341	13550	0.00	2.67	0.00	0.000	4	0.000	0.073	2897	788	1842
13747	1.85	177.1	399.0	10.8	344	13751	0.00	2.58	0.00	0.000	6	0.000	0.051	2897	2213	1842
14107	1.86	190.5	364.5	9.4	350	14126	0.00	2.75	12.50	1.004	4	0.000	0.067	2898	788	1787
14302	1.88	207.1	345.3	9.2	352	14322	0.00	2.55	15.52	0.998	6	0.000	0.048	2897	2203	1719
14672	1.88	207.1	307.2	10.5	359	14676	0.00	2.65	0.00	0.000	4	0.000	0.065	2897	783	1719
14806	1.88	207.1	292.3	10.6	361	14811	0.00	2.55	0.00	0.000	6	0.000	0.046	2897	2203	1719
15129	1.88	207.1	256.4	11.5	377	15133	0.00	2.62	0.00	0.000	4	0.000	0.064	2897	788	1719
15342	1.88	207.1	231.2	12.0	386	15348	0.00	2.55	0.00	0.000	6	0.000	0.046	2897	2213	1719
15658	1.88	207.1	196.4	10.7	402	15663	0.00	2.65	0.00	0.000	4	0.000	0.063	2897	778	1719
15709	1.88	207.1	190.6	11.7	404	15713	0.00	2.55	0.00	0.000	6	0.000	0.044	2896	2208	1719
16026	1.89	207.5	158.7	10.0	419	16030	0.00	2.62	0.00	0.000	4	0.000	0.062	2897	782	1719
16284	1.89	213.9	132.6	9.7	437	16301	0.00	2.53	7.68	0.796	6	0.000	0.044	2897	2203	1691
16622	1.89	213.9	97.3	10.1	469	16626	0.00	2.60	0.00	0.000	4	0.000	0.060	2897	787	1691
16730	1.89	213.9	86.5	10.0	478	16734	0.00	2.53	0.00	0.000	6	0.000	0.044	2897	2202	1691
17070	1.95	263.3	58.7	7.7	531	17117	0.12	2.72	40.05	0.831	4	0.070	0.060	2926	788	1490
17292	1.99	288.7	37.8	8.8	568	17320	0.00	2.53	21.92	0.788	6	0.000	0.044	2926	2201	1386
17640	2.07	360.9	9.1	6.6	601	17704	0.10	0.00	58.90	0.775	6	0.072	0.000	2950	2201	1093
17712	end climb: SURFACE_DEPTH_REACHED
state	17712	begin surface coast
17734	end surface coast: CONTROL_FINISHED_OK
state	17734	begin surface