Glider dive log

WA coast Apr08 * SG101 * Dive index * Mission links * Dive 29 * 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 29 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 14 DEEPGLIDER 0

SURFACE_URGENCY 0 COMM_SEQ 0 R_STBD_OVSHOOT 19 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 -691214.44 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 -691214.44

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 14 USE_ICE 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 19 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 29 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 215937,4752.729,-12612.497,41,1.2,41,18.8 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 -0.225,-0.130

_SM_DEPTHo 1.46 KALMAN_X 14873.0,136.7,-224.8,-57166.4,468.5

_SM_ANGLEo -64.7 KALMAN_Y 1025.9,241.4,110.3,-29307.5,-320.2

GPS2 220515,4752.705,-12612.490,13,1.8,13,18.8 MHEAD_RNG_PITCHd_Wd 221.2,167233,-17.9,-10.000

SPEED_LIMITS 0.165,0.247 D_GRID 1001

Post-dive calculations and measurements:

FINISH 0.7,1.001960 ALTIM_TOP_PING 19.3,19.3

SM_CCo 17934,48.15,0.749,1,0,933,400.08 _24V_AH 23.2,7.655

SM_GC 2.05,0.00,0.00,48.15,0.000,0.000,0.749,28,2584,933,-11.37,-0.48,400.08 _10V_AH 10.1,3.461

IRIDIUM_FIX 4735.69,-12613.68,290697,171728 DATA_FILE_SIZE 31712,614

TT8_MAMPS 0.026078 CAP_FILE_SIZE 128053,0

HUMID 1792 CFSIZE 260165632,256794624

INTERNAL_PRESSURE 8.85776 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,1,1,0

TCM_TEMP 16.10 GPS 050408,030737,4751.855,-12615.560,43,1.5,49,18.8

XPDR_PINGS 1

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 28 162 106.48 SBE_CT 426 24 237.29

Roll_motor 137 98 312.38 SBE_O2 493 19 217.68

VBD_pump_during_apogee 427 1478 14675.93 WL_BB2F 702 105 1710.19

VBD_pump_during_surface 48 748 836.24 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 33 103 79.11 nil 0 0 0.00

Iridium_during_connect 51 160 190.97 nil 0 0 0.00

Iridium_during_xfer 127 223 658.25

Transponder_ping 9 420 90.13

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 13 50 7.01

TT8 1350 19 269.98

LPSleep 13572 2 300.20

TT8_Active 581 19 116.33

TT8_Sampling 2245 39 902.47

TT8_CF8 587 45 271.99

TT8_Kalman 33 81 27.56

Analog_circuits 1661 12 201.42

GPS_charging 0 0 0.00

Compass 2184 8 176.50

RAFOS 0 0 0.00

Guidance and control:

st_secs pitch_ctl vbd_ctl depth ob_vertv data_pts end_secs pitch_secs roll_secs vbd_secs vbd_i gcphase pitch_i roll_i pitch_ad roll_ad vbd_ad

24 end surface: CONTROL_FINISHED_OK

state 24 begin dive

28 -1.81 -146.6 0.0 0.0 0 80 0.00 0.00 -50.05 0.000 2 0.000 0.000 33 2609 1989

85 -1.81 -146.6 3.1 -4.4 5 139 11.62 1.98 -34.97 0.000 4 0.163 0.098 2096 3617 3162

332 -1.81 -146.6 50.9 -18.8 31 339 0.00 1.88 0.00 0.000 6 0.000 0.047 2096 2571 3162

673 -1.81 -146.6 106.2 -14.4 77 674 0.00 0.00 0.00 0.000 6 0.000 0.000 2096 2571 3162

991 -1.81 -146.6 153.2 -14.4 106 995 0.00 2.45 0.00 0.000 4 0.000 0.051 2096 1205 3162

1025 -1.81 -146.6 158.2 -13.9 107 1029 0.00 2.50 0.00 0.000 6 0.000 0.045 2096 2599 3162

1341 -1.81 -146.6 205.7 -15.4 122 1343 0.00 0.00 0.00 0.000 6 0.000 0.000 2096 2600 3162

1653 -1.81 -146.6 251.1 -14.3 137 1654 0.00 0.00 0.00 0.000 6 0.000 0.000 2096 2600 3162

1960 -1.81 -146.6 293.0 -13.0 152 1961 0.00 0.00 0.00 0.000 6 0.000 0.000 2096 2600 3162

2266 -1.81 -146.6 332.2 -12.9 159 2267 0.00 0.00 0.00 0.000 6 0.000 0.000 2096 2600 3162

2567 -1.81 -146.6 371.5 -13.1 164 2571 0.00 2.55 0.00 0.000 4 0.000 0.062 2096 1212 3162

2617 -1.81 -146.6 378.3 -13.0 164 2621 0.00 2.53 0.00 0.000 6 0.000 0.058 2096 2604 3162

2927 -1.81 -146.6 419.4 -13.3 169 2928 0.00 0.00 0.00 0.000 6 0.000 0.000 2096 2604 3162

3230 -1.81 -146.6 459.6 -13.3 174 3231 0.00 0.00 0.00 0.000 6 0.000 0.000 2096 2604 3161

3533 -1.81 -146.6 498.1 -12.6 179 3534 0.00 0.00 0.00 0.000 6 0.000 0.000 2096 2604 3161

3836 -1.81 -146.6 534.6 -12.0 184 3841 0.00 2.72 0.00 0.000 4 0.000 0.095 2096 1216 3160

3875 -1.81 -146.6 539.3 -11.9 184 3880 0.00 2.70 0.00 0.000 6 0.000 0.092 2096 2596 3160

4196 -1.81 -146.6 580.1 -12.8 190 4198 0.00 0.00 0.00 0.000 6 0.000 0.000 2096 2596 3160

4499 -1.81 -146.6 619.8 -13.2 195 4500 0.00 0.00 0.00 0.000 6 0.000 0.000 2096 2595 3159

4802 -1.81 -146.6 659.1 -12.8 200 4806 0.00 2.67 0.00 0.000 4 0.000 0.089 2096 1211 3159

4846 -1.81 -146.6 664.9 -12.4 200 4851 0.00 2.67 0.00 0.000 6 0.000 0.086 2096 2601 3158

5163 -1.81 -146.6 703.0 -11.9 206 5164 0.00 0.00 0.00 0.000 6 0.000 0.000 2096 2601 3158

5466 -1.81 -146.6 738.2 -11.7 211 5467 0.00 0.00 0.00 0.000 6 0.000 0.000 2096 2601 3158

5768 -1.81 -146.6 772.4 -11.3 216 5769 0.00 0.00 0.00 0.000 6 0.000 0.000 2096 2601 3157

6072 -1.81 -146.6 805.5 -10.9 221 6076 0.00 2.67 0.00 0.000 4 0.000 0.087 2096 1213 3157

6128 -1.81 -146.6 811.6 -10.5 221 6134 0.00 2.67 0.00 0.000 6 0.000 0.083 2096 2607 3157

6437 -1.81 -146.6 844.8 -10.9 227 6439 0.00 0.00 0.00 0.000 6 0.000 0.000 2096 2606 3157

6741 -1.81 -146.6 878.9 -11.2 232 6746 0.00 2.67 0.00 0.000 4 0.000 0.087 2096 1216 3156

6786 -1.81 -146.6 884.3 -11.9 232 6791 0.00 2.67 0.00 0.000 6 0.000 0.083 2096 2604 3156

7102 -1.81 -146.6 919.2 -11.0 238 7103 0.00 0.00 0.00 0.000 6 0.000 0.000 2096 2604 3156

7406 -1.81 -146.6 952.7 -11.0 243 7410 0.00 2.67 0.00 0.000 4 0.000 0.086 2096 1213 3156

7445 -1.81 -146.6 957.2 -11.2 243 7449 0.00 2.65 0.00 0.000 6 0.000 0.081 2096 2602 3156

7762 end dive: TARGET_DEPTH_EXCEEDED

state 7762 begin apogee

7770 -0.45 0.0 991.7 10.9 249 7900 1.45 0.00 125.65 1.479 6 0.081 0.000 2399 2222 2565

7901 end apogee: CONTROL_FINISHED_OK

state 7901 begin climb

7904 1.81 146.6 996.2 0.0 251 8040 2.20 2.92 126.38 1.433 4 0.047 0.098 2899 789 1966

8301 1.81 146.6 967.3 11.2 257 8305 0.00 2.72 0.00 0.000 6 0.000 0.074 2899 2206 1966

8666 1.81 146.6 928.4 10.3 263 8671 0.00 2.80 0.00 0.000 4 0.000 0.092 2899 791 1966

8848 1.81 146.6 910.0 10.7 265 8853 0.00 2.70 0.00 0.000 6 0.000 0.074 2899 2204 1965

9163 1.82 152.1 879.0 9.7 271 9177 0.00 2.80 6.22 1.109 4 0.000 0.092 2899 791 1943

9346 1.82 152.1 859.3 10.9 273 9351 0.00 2.70 0.00 0.000 6 0.000 0.074 2899 2206 1943

9661 1.82 152.1 826.9 10.2 279 9666 0.00 2.78 0.00 0.000 4 0.000 0.091 2899 791 1942

9862 1.82 152.1 806.5 10.2 282 9867 0.00 2.67 0.00 0.000 6 0.000 0.073 2899 2201 1943

10222 1.83 165.6 772.4 9.4 288 10241 0.00 2.85 12.85 1.273 4 0.000 0.091 2899 792 1888

10375 1.83 165.6 757.1 10.3 290 10380 0.00 2.67 0.00 0.000 6 0.000 0.072 2900 2201 1888

10725 1.83 165.6 720.9 10.5 296 10729 0.00 2.78 0.00 0.000 4 0.000 0.091 2899 787 1888

10909 1.83 165.6 700.6 10.9 298 10913 0.00 2.67 0.00 0.000 6 0.000 0.071 2899 2202 1888

11219 1.83 165.6 667.8 10.6 303 11223 0.00 2.75 0.00 0.000 4 0.000 0.089 2899 791 1888

11416 1.83 165.6 646.7 10.6 306 11420 0.00 2.67 0.00 0.000 6 0.000 0.071 2899 2202 1888

11782 1.84 170.6 610.7 9.8 312 11795 0.00 2.80 6.25 1.030 4 0.000 0.089 2899 783 1867

12050 1.84 170.6 582.1 10.9 316 12054 0.00 2.67 0.00 0.000 6 0.000 0.071 2899 2201 1867

12415 1.84 170.6 544.4 10.3 322 12420 0.00 2.75 0.00 0.000 4 0.000 0.088 2899 788 1867

12598 1.84 170.6 524.8 10.6 324 12602 0.00 2.65 0.00 0.000 6 0.000 0.067 2899 2202 1867

12913 1.84 170.6 491.9 10.3 330 12917 0.00 2.72 0.00 0.000 4 0.000 0.084 2899 787 1867

13171 1.85 176.7 466.7 9.7 333 13185 0.00 2.62 7.05 0.990 6 0.000 0.061 2899 2206 1843

13548 1.85 179.8 430.2 9.9 340 13557 0.00 2.72 4.38 0.800 4 0.000 0.075 2899 787 1830

13812 1.85 179.8 401.8 10.9 344 13816 0.00 2.60 0.00 0.000 6 0.000 0.053 2899 2211 1830

14178 1.86 189.7 365.7 9.5 350 14193 0.00 2.70 9.75 0.983 4 0.000 0.067 2899 789 1790

14446 1.87 193.6 337.7 9.8 354 14456 0.00 2.55 5.15 0.823 6 0.000 0.048 2899 2203 1774

14805 1.87 193.6 300.4 10.6 360 14810 0.00 2.62 0.00 0.000 4 0.000 0.065 2899 786 1774

15062 1.87 193.6 272.2 10.6 369 15069 0.00 2.55 0.00 0.000 6 0.000 0.048 2899 2204 1774

15379 1.87 194.5 239.6 10.0 385 15384 0.00 2.62 0.00 0.000 4 0.000 0.064 2899 789 1774

15638 1.88 204.9 213.3 9.5 396 15654 0.00 2.53 10.90 0.905 6 0.000 0.047 2899 2203 1728

15971 1.88 205.9 181.1 10.0 413 15976 0.00 2.62 0.00 0.000 4 0.000 0.062 2898 781 1728

16230 1.89 208.0 154.5 9.9 424 16239 0.00 2.53 4.40 0.678 6 0.000 0.045 2899 2201 1715

16567 1.89 211.2 121.2 9.8 454 16579 0.00 2.62 4.47 0.665 4 0.000 0.061 2899 788 1702

16832 1.89 211.2 92.2 10.8 477 16839 0.00 2.53 0.00 0.000 6 0.000 0.044 2899 2209 1702

17170 1.96 264.9 61.7 7.5 527 17221 0.12 2.70 43.20 0.867 4 0.069 0.077 2928 3605 1482

17477 1.96 264.9 32.6 10.0 574 17482 0.00 2.53 0.00 0.000 6 0.000 0.042 2928 2175 1482

17803 2.05 340.4 6.7 6.5 604 17874 0.00 2.78 61.12 0.804 4 0.000 0.069 2928 3596 1174

17884 end climb: SURFACE_DEPTH_REACHED

state 17884 begin surface coast

17907 end surface coast: CONTROL_FINISHED_OK

state 17908 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	29	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	14	DEEPGLIDER	0
SURFACE_URGENCY	0	COMM_SEQ	0	R_STBD_OVSHOOT	19	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	-691214.44	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	215937,4752.729,-12612.497,41,1.2,41,18.8	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	-0.225,-0.130
_SM_DEPTHo	1.46	KALMAN_X	14873.0,136.7,-224.8,-57166.4,468.5
_SM_ANGLEo	-64.7	KALMAN_Y	1025.9,241.4,110.3,-29307.5,-320.2
GPS2	220515,4752.705,-12612.490,13,1.8,13,18.8	MHEAD_RNG_PITCHd_Wd	221.2,167233,-17.9,-10.000
SPEED_LIMITS	0.165,0.247	D_GRID	1001

FINISH	0.7,1.001960	ALTIM_TOP_PING	19.3,19.3
SM_CCo	17934,48.15,0.749,1,0,933,400.08	_24V_AH	23.2,7.655
SM_GC	2.05,0.00,0.00,48.15,0.000,0.000,0.749,28,2584,933,-11.37,-0.48,400.08	_10V_AH	10.1,3.461
IRIDIUM_FIX	4735.69,-12613.68,290697,171728	DATA_FILE_SIZE	31712,614
TT8_MAMPS	0.026078	CAP_FILE_SIZE	128053,0
HUMID	1792	CFSIZE	260165632,256794624
INTERNAL_PRESSURE	8.85776	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
TCM_TEMP	16.10	GPS	050408,030737,4751.855,-12615.560,43,1.5,49,18.8
XPDR_PINGS	1

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	28	162	106.48	SBE_CT	426	24	237.29
Roll_motor	137	98	312.38	SBE_O2	493	19	217.68
VBD_pump_during_apogee	427	1478	14675.93	WL_BB2F	702	105	1710.19
VBD_pump_during_surface	48	748	836.24	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	33	103	79.11	nil	0	0	0.00
Iridium_during_connect	51	160	190.97	nil	0	0	0.00
Iridium_during_xfer	127	223	658.25
Transponder_ping	9	420	90.13
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	13	50	7.01
TT8	1350	19	269.98
LPSleep	13572	2	300.20
TT8_Active	581	19	116.33
TT8_Sampling	2245	39	902.47
TT8_CF8	587	45	271.99
TT8_Kalman	33	81	27.56
Analog_circuits	1661	12	201.42
GPS_charging	0	0	0.00
Compass	2184	8	176.50
RAFOS	0	0	0.00

st_secs	pitch_ctl	vbd_ctl	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad
24	end surface: CONTROL_FINISHED_OK
state	24	begin dive
28	-1.81	-146.6	0.0	0.0	0	80	0.00	0.00	-50.05	0.000	2	0.000	0.000	33	2609	1989
85	-1.81	-146.6	3.1	-4.4	5	139	11.62	1.98	-34.97	0.000	4	0.163	0.098	2096	3617	3162
332	-1.81	-146.6	50.9	-18.8	31	339	0.00	1.88	0.00	0.000	6	0.000	0.047	2096	2571	3162
673	-1.81	-146.6	106.2	-14.4	77	674	0.00	0.00	0.00	0.000	6	0.000	0.000	2096	2571	3162
991	-1.81	-146.6	153.2	-14.4	106	995	0.00	2.45	0.00	0.000	4	0.000	0.051	2096	1205	3162
1025	-1.81	-146.6	158.2	-13.9	107	1029	0.00	2.50	0.00	0.000	6	0.000	0.045	2096	2599	3162
1341	-1.81	-146.6	205.7	-15.4	122	1343	0.00	0.00	0.00	0.000	6	0.000	0.000	2096	2600	3162
1653	-1.81	-146.6	251.1	-14.3	137	1654	0.00	0.00	0.00	0.000	6	0.000	0.000	2096	2600	3162
1960	-1.81	-146.6	293.0	-13.0	152	1961	0.00	0.00	0.00	0.000	6	0.000	0.000	2096	2600	3162
2266	-1.81	-146.6	332.2	-12.9	159	2267	0.00	0.00	0.00	0.000	6	0.000	0.000	2096	2600	3162
2567	-1.81	-146.6	371.5	-13.1	164	2571	0.00	2.55	0.00	0.000	4	0.000	0.062	2096	1212	3162
2617	-1.81	-146.6	378.3	-13.0	164	2621	0.00	2.53	0.00	0.000	6	0.000	0.058	2096	2604	3162
2927	-1.81	-146.6	419.4	-13.3	169	2928	0.00	0.00	0.00	0.000	6	0.000	0.000	2096	2604	3162
3230	-1.81	-146.6	459.6	-13.3	174	3231	0.00	0.00	0.00	0.000	6	0.000	0.000	2096	2604	3161
3533	-1.81	-146.6	498.1	-12.6	179	3534	0.00	0.00	0.00	0.000	6	0.000	0.000	2096	2604	3161
3836	-1.81	-146.6	534.6	-12.0	184	3841	0.00	2.72	0.00	0.000	4	0.000	0.095	2096	1216	3160
3875	-1.81	-146.6	539.3	-11.9	184	3880	0.00	2.70	0.00	0.000	6	0.000	0.092	2096	2596	3160
4196	-1.81	-146.6	580.1	-12.8	190	4198	0.00	0.00	0.00	0.000	6	0.000	0.000	2096	2596	3160
4499	-1.81	-146.6	619.8	-13.2	195	4500	0.00	0.00	0.00	0.000	6	0.000	0.000	2096	2595	3159
4802	-1.81	-146.6	659.1	-12.8	200	4806	0.00	2.67	0.00	0.000	4	0.000	0.089	2096	1211	3159
4846	-1.81	-146.6	664.9	-12.4	200	4851	0.00	2.67	0.00	0.000	6	0.000	0.086	2096	2601	3158
5163	-1.81	-146.6	703.0	-11.9	206	5164	0.00	0.00	0.00	0.000	6	0.000	0.000	2096	2601	3158
5466	-1.81	-146.6	738.2	-11.7	211	5467	0.00	0.00	0.00	0.000	6	0.000	0.000	2096	2601	3158
5768	-1.81	-146.6	772.4	-11.3	216	5769	0.00	0.00	0.00	0.000	6	0.000	0.000	2096	2601	3157
6072	-1.81	-146.6	805.5	-10.9	221	6076	0.00	2.67	0.00	0.000	4	0.000	0.087	2096	1213	3157
6128	-1.81	-146.6	811.6	-10.5	221	6134	0.00	2.67	0.00	0.000	6	0.000	0.083	2096	2607	3157
6437	-1.81	-146.6	844.8	-10.9	227	6439	0.00	0.00	0.00	0.000	6	0.000	0.000	2096	2606	3157
6741	-1.81	-146.6	878.9	-11.2	232	6746	0.00	2.67	0.00	0.000	4	0.000	0.087	2096	1216	3156
6786	-1.81	-146.6	884.3	-11.9	232	6791	0.00	2.67	0.00	0.000	6	0.000	0.083	2096	2604	3156
7102	-1.81	-146.6	919.2	-11.0	238	7103	0.00	0.00	0.00	0.000	6	0.000	0.000	2096	2604	3156
7406	-1.81	-146.6	952.7	-11.0	243	7410	0.00	2.67	0.00	0.000	4	0.000	0.086	2096	1213	3156
7445	-1.81	-146.6	957.2	-11.2	243	7449	0.00	2.65	0.00	0.000	6	0.000	0.081	2096	2602	3156
7762	end dive: TARGET_DEPTH_EXCEEDED
state	7762	begin apogee
7770	-0.45	0.0	991.7	10.9	249	7900	1.45	0.00	125.65	1.479	6	0.081	0.000	2399	2222	2565
7901	end apogee: CONTROL_FINISHED_OK
state	7901	begin climb
7904	1.81	146.6	996.2	0.0	251	8040	2.20	2.92	126.38	1.433	4	0.047	0.098	2899	789	1966
8301	1.81	146.6	967.3	11.2	257	8305	0.00	2.72	0.00	0.000	6	0.000	0.074	2899	2206	1966
8666	1.81	146.6	928.4	10.3	263	8671	0.00	2.80	0.00	0.000	4	0.000	0.092	2899	791	1966
8848	1.81	146.6	910.0	10.7	265	8853	0.00	2.70	0.00	0.000	6	0.000	0.074	2899	2204	1965
9163	1.82	152.1	879.0	9.7	271	9177	0.00	2.80	6.22	1.109	4	0.000	0.092	2899	791	1943
9346	1.82	152.1	859.3	10.9	273	9351	0.00	2.70	0.00	0.000	6	0.000	0.074	2899	2206	1943
9661	1.82	152.1	826.9	10.2	279	9666	0.00	2.78	0.00	0.000	4	0.000	0.091	2899	791	1942
9862	1.82	152.1	806.5	10.2	282	9867	0.00	2.67	0.00	0.000	6	0.000	0.073	2899	2201	1943
10222	1.83	165.6	772.4	9.4	288	10241	0.00	2.85	12.85	1.273	4	0.000	0.091	2899	792	1888
10375	1.83	165.6	757.1	10.3	290	10380	0.00	2.67	0.00	0.000	6	0.000	0.072	2900	2201	1888
10725	1.83	165.6	720.9	10.5	296	10729	0.00	2.78	0.00	0.000	4	0.000	0.091	2899	787	1888
10909	1.83	165.6	700.6	10.9	298	10913	0.00	2.67	0.00	0.000	6	0.000	0.071	2899	2202	1888
11219	1.83	165.6	667.8	10.6	303	11223	0.00	2.75	0.00	0.000	4	0.000	0.089	2899	791	1888
11416	1.83	165.6	646.7	10.6	306	11420	0.00	2.67	0.00	0.000	6	0.000	0.071	2899	2202	1888
11782	1.84	170.6	610.7	9.8	312	11795	0.00	2.80	6.25	1.030	4	0.000	0.089	2899	783	1867
12050	1.84	170.6	582.1	10.9	316	12054	0.00	2.67	0.00	0.000	6	0.000	0.071	2899	2201	1867
12415	1.84	170.6	544.4	10.3	322	12420	0.00	2.75	0.00	0.000	4	0.000	0.088	2899	788	1867
12598	1.84	170.6	524.8	10.6	324	12602	0.00	2.65	0.00	0.000	6	0.000	0.067	2899	2202	1867
12913	1.84	170.6	491.9	10.3	330	12917	0.00	2.72	0.00	0.000	4	0.000	0.084	2899	787	1867
13171	1.85	176.7	466.7	9.7	333	13185	0.00	2.62	7.05	0.990	6	0.000	0.061	2899	2206	1843
13548	1.85	179.8	430.2	9.9	340	13557	0.00	2.72	4.38	0.800	4	0.000	0.075	2899	787	1830
13812	1.85	179.8	401.8	10.9	344	13816	0.00	2.60	0.00	0.000	6	0.000	0.053	2899	2211	1830
14178	1.86	189.7	365.7	9.5	350	14193	0.00	2.70	9.75	0.983	4	0.000	0.067	2899	789	1790
14446	1.87	193.6	337.7	9.8	354	14456	0.00	2.55	5.15	0.823	6	0.000	0.048	2899	2203	1774
14805	1.87	193.6	300.4	10.6	360	14810	0.00	2.62	0.00	0.000	4	0.000	0.065	2899	786	1774
15062	1.87	193.6	272.2	10.6	369	15069	0.00	2.55	0.00	0.000	6	0.000	0.048	2899	2204	1774
15379	1.87	194.5	239.6	10.0	385	15384	0.00	2.62	0.00	0.000	4	0.000	0.064	2899	789	1774
15638	1.88	204.9	213.3	9.5	396	15654	0.00	2.53	10.90	0.905	6	0.000	0.047	2899	2203	1728
15971	1.88	205.9	181.1	10.0	413	15976	0.00	2.62	0.00	0.000	4	0.000	0.062	2898	781	1728
16230	1.89	208.0	154.5	9.9	424	16239	0.00	2.53	4.40	0.678	6	0.000	0.045	2899	2201	1715
16567	1.89	211.2	121.2	9.8	454	16579	0.00	2.62	4.47	0.665	4	0.000	0.061	2899	788	1702
16832	1.89	211.2	92.2	10.8	477	16839	0.00	2.53	0.00	0.000	6	0.000	0.044	2899	2209	1702
17170	1.96	264.9	61.7	7.5	527	17221	0.12	2.70	43.20	0.867	4	0.069	0.077	2928	3605	1482
17477	1.96	264.9	32.6	10.0	574	17482	0.00	2.53	0.00	0.000	6	0.000	0.042	2928	2175	1482
17803	2.05	340.4	6.7	6.5	604	17874	0.00	2.78	61.12	0.804	4	0.000	0.069	2928	3596	1174
17884	end climb: SURFACE_DEPTH_REACHED
state	17884	begin surface coast
17907	end surface coast: CONTROL_FINISHED_OK
state	17908	begin surface