Glider dive log

NAB Apr08 * SG140 * Dive index * Mission links * Dive 31 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 140 HD_C 9.9999997e-06 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0

MISSION 5 HEADING 270 PITCH_ADJ_GAIN 0.02 ALTIM_BOTTOM_TURN_MARGIN 0

DIVE 31 ESCAPE_HEADING 0 PITCH_ADJ_DBAND 2 ALTIM_TOP_TURN_MARGIN 0

D_SURF 2 ESCAPE_HEADING_DELTA 10 ROLL_MIN 157 ALTIM_TOP_MIN_OBSTACLE 1

D_FLARE 3 FIX_MISSING_TIMEOUT 0 ROLL_MAX 3940 ALTIM_PING_DEPTH 0

D_TGT 750 TGT_DEFAULT_LAT 5900 ROLL_DEG 40 ALTIM_PING_DELTA 0

D_ABORT 800 TGT_DEFAULT_LON -2030 C_ROLL_DIVE 2235 ALTIM_FREQUENCY 13

D_NO_BLEED 350 TGT_AUTO_DEFAULT 0 C_ROLL_CLIMB 2330 ALTIM_PULSE 3

D_FINISH 0 SM_CC 200 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 2

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 11 DEEPGLIDER 0

SURFACE_URGENCY 0 COMM_SEQ 0 R_STBD_OVSHOOT 11 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 250 N_NOSURFACE 0 ROLL_ADJ_GAIN 3 DEVICE2 20

T_MISSION 280 UPLOAD_DIVES_MAX -1 ROLL_ADJ_DBAND 0.029999999 DEVICE3 35

T_ABORT 720 CALL_TRIES 5 VBD_MIN 520 DEVICE4 53

T_TURN 225 CALL_WAIT 60 VBD_MAX 3978 DEVICE5 -1

T_TURN_SAMPINT 5 CAPUPLOAD 0 C_VBD 3085 DEVICE6 -1

T_NO_W 120 CAPMAXSIZE 100000 VBD_DBAND 2 SMARTS 0

USE_BATHY 0 HEAPDBG 0 VBD_CNV -0.24529999 SMARTDEVICE1 -1

USE_ICE 0 T_GPS 15 VBD_TIMEOUT 720 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.30000001 N_GPS 20 PITCH_VBD_SHIFT 0.0012300001 COMPASS_DEVICE 33

D_OFFGRID 100 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_SURFACE 5 PHONE_DEVICE 48

T_WATCHDOG 10 T_GPS_CHARGE -13768.016 VBD_PUMP_AD_RATE_APOGEE 4 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 592 AH0_24V 91.800003 SEABIRD_T_G 0.0043273787

SPEED_FACTOR 1 PITCH_MAX 3894 AH0_10V 100 SEABIRD_T_H 0.0006414231

RHO 1.0273 C_PITCH 2960 PRESSURE_YINT -1.4601949 SEABIRD_T_I 2.3931538e-05

MASS 51662 PITCH_DBAND 0.1 PRESSURE_SLOPE 9.0994887e-05 SEABIRD_T_J 2.340664e-06

NAV_MODE 0 PITCH_CNV 0.0046000001 AD7714Ch0Gain 64 SEABIRD_C_G -10.258962

FERRY_MAX 0 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1819305

KALMAN_USE 2 PITCH_GAIN 14.2 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 175 ALTIM_BOTTOM_PING_RANGE 0

AD7714Ch0Gain 64 D_FINISH 0 PITCH_AD_RATE 175 SMARTDEVICE1 -1

AH0_10V 100 D_FLARE 3 PITCH_CNV 0.0046000001 SMARTDEVICE2 -1

AH0_24V 91.800003 D_NO_BLEED 350 PITCH_DBAND 0.1 SMARTS 0

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 100 PITCH_GAIN 14.2 SM_CC 200

ALTIM_BOTTOM_TURN_MARGIN 0 D_PITCH 0 PITCH_MAX 3894 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 0 D_SURF 2 PITCH_MIN 592 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 0 D_TGT 750 PITCH_TIMEOUT 15 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 3 ESCAPE_HEADING 0 PITCH_VBD_SHIFT 0.0012300001 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 2 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 9.0994887e-05 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 0 PRESSURE_YINT -1.4601949 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 250

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 -13768.016

CAPUPLOAD 0 HEADING 270 ROLL_ADJ_DBAND 0.029999999 T_MISSION 280

CF8_MAXERRORS 20 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 3 T_NO_W 120

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 350 T_RSLEEP 3

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN 225

COMPASS_USE 0 ID 140 ROLL_DEG 40 T_TURN_SAMPINT 5

COURSE_BIAS 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3940 T_WATCHDOG 10

C_PITCH 2960 INT_PRESSURE_YINT 0 ROLL_MAXERRORS 1 UNCOM_BLEED 20

C_ROLL_CLIMB 2330 KALMAN_USE 2 ROLL_MIN 157 UPLOAD_DIVES_MAX -1

C_ROLL_DIVE 2235 KERMIT 0 ROLL_TIMEOUT 15 USE_BATHY 0

C_VBD 3085 MASS 51662 R_PORT_OVSHOOT 11 USE_ICE 0

DEEPGLIDER 0 MAX_BUOY 200 R_STBD_OVSHOOT 11 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 3978

DEVICE3 35 N_FILEKB 4 SEABIRD_C_J 0.00031207138 VBD_MAXERRORS 1

DEVICE4 53 N_GPS 20 SEABIRD_T_G 0.0043273787 VBD_MIN 520

DEVICE5 -1 N_NOCOMM 1 SEABIRD_T_H 0.0006414231 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.3931538e-05 VBD_PUMP_AD_RATE_SURFACE 5

DIVE 31 PHONE_DEVICE 48 SEABIRD_T_J 2.340664e-06 VBD_TIMEOUT 720

D_ABORT 800 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 150638,5905.344,-1818.988,34,1.0,34,-13.1 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG 5905.278,-1824.604

_XMS_NAKs 3 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 0.87 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -61.4 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 151414,5905.278,-1819.056,11,1.0,16,-13.1 MHEAD_RNG_PITCHd_Wd 283.1,20000,-14.9,-10.000

SPEED_LIMITS 0.173,0.295 D_GRID 750

Post-dive calculations and measurements:

FINISH 0.1,1.014234 XPDR_PINGS 115

SM_CCo 15416,0.00,0.000,0,0,1823,309.57 _24V_AH 23.5,14.182

SM_GC 0.85,11.50,0.00,0.00,0.049,0.000,0.000,592,2234,1823,-10.85,-0.03,309.57 _10V_AH 10.7,7.231

IRIDIUM_FIX 5846.12,-1815.49,050797,101054 DATA_FILE_SIZE 135828,2431

TT8_MAMPS 0.02301 CAP_FILE_SIZE 174915,0

HUMID 1574 CFSIZE 260165632,254054400

INTERNAL_PRESSURE 8.42806 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 18.20 GPS 100408,193258,5903.759,-1823.724,36,3.5,55,-13.2

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 27 198 127.80 SBE_CT 1680 24 947.98

Roll_motor 60 134 191.77 SBE_O2 1816 19 811.05

VBD_pump_during_apogee 420 1249 12343.75 WL_BB2F 1842 105 4545.86

VBD_pump_during_surface 0 0 0.00 Optode 1140 33 884.44

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 29 103 70.81 nil 0 0 0.00

Iridium_during_connect 32 160 123.70 nil 0 0 0.00

Iridium_during_xfer 249 223 1307.91

Transponder_ping 28 420 283.76

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 16 50 9.01

TT8 3618 19 766.53

LPSleep 6976 2 163.47

TT8_Active 547 19 115.92

TT8_Sampling 4065 39 1731.32

TT8_CF8 641 45 314.38

TT8_Kalman 0 0 0.00

Analog_circuits 2299 12 295.31

GPS_charging 0 0 0.00

Compass 4065 8 348.04

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

27 -1.29 -194.7 0.0 0.0 0 95 0.00 0.00 -65.55 0.000 2 0.000 0.000 593 2224 3593

98 -1.29 -194.7 3.4 -6.7 12 123 12.68 2.78 -6.05 0.000 4 0.199 0.117 2667 3654 3881

361 -1.29 -194.7 35.6 -10.7 58 367 0.00 2.67 0.00 0.000 6 0.000 0.092 2667 2233 3882

503 -1.29 -194.7 51.5 -10.9 83 509 0.00 0.00 0.00 0.000 6 0.000 0.000 2667 2233 3881

644 -1.29 -194.7 65.8 -10.4 108 650 0.00 0.00 0.00 0.000 6 0.000 0.000 2667 2233 3881

786 -1.29 -194.7 78.2 -9.3 133 792 0.00 0.00 0.00 0.000 6 0.000 0.000 2667 2234 3882

928 -1.29 -194.7 91.1 -9.6 158 933 0.00 0.00 0.00 0.000 6 0.000 0.000 2667 2233 3881

1069 -1.29 -194.7 103.4 -8.9 183 1075 0.00 0.00 0.00 0.000 6 0.000 0.000 2667 2233 3881

1211 -1.29 -194.7 114.7 -7.9 208 1217 0.00 0.00 0.00 0.000 6 0.000 0.000 2667 2233 3882

1353 -1.29 -194.7 126.7 -8.6 233 1359 0.00 0.00 0.00 0.000 6 0.000 0.000 2667 2233 3882

1495 -1.29 -194.7 139.3 -9.0 258 1500 0.00 0.00 0.00 0.000 6 0.000 0.000 2667 2233 3882

1636 -1.29 -194.7 151.9 -9.6 283 1642 0.00 2.75 0.00 0.000 4 0.000 0.110 2667 3648 3881

1665 -1.29 -194.7 154.9 -10.6 288 1672 0.00 2.65 0.00 0.000 6 0.000 0.094 2667 2243 3882

2009 -1.29 -194.7 187.5 -10.0 349 2014 0.00 0.00 0.00 0.000 6 0.000 0.000 2667 2244 3882

2351 -1.29 -194.7 221.3 -9.6 410 2357 0.00 0.00 0.00 0.000 6 0.000 0.000 2667 2244 3882

2695 -1.29 -194.7 255.1 -9.3 471 2701 0.00 2.72 0.00 0.000 4 0.000 0.111 2667 3646 3882

2730 -1.29 -194.7 258.5 -10.3 477 2736 0.00 2.65 0.00 0.000 6 0.000 0.096 2667 2246 3882

3073 -1.29 -194.7 290.7 -9.8 538 3079 0.00 0.00 0.00 0.000 6 0.000 0.000 2667 2246 3882

3417 -1.29 -194.7 323.4 -8.8 599 3422 0.00 0.00 0.00 0.000 6 0.000 0.000 2667 2246 3881

3759 -1.29 -194.7 353.7 -8.6 660 3765 0.00 0.00 0.00 0.000 6 0.000 0.000 2667 2246 3881

4103 -1.29 -194.7 383.8 -8.9 721 4109 0.00 2.72 0.00 0.000 4 0.000 0.115 2667 3646 3882

4138 -1.29 -194.7 387.1 -9.8 727 4144 0.00 2.65 0.00 0.000 6 0.000 0.098 2667 2250 3882

4482 -1.29 -194.7 418.2 -9.3 788 4488 0.00 0.00 0.00 0.000 6 0.000 0.000 2667 2251 3882

4825 -1.29 -194.7 450.2 -9.4 849 4831 0.00 0.00 0.00 0.000 6 0.000 0.000 2667 2251 3882

5168 -1.29 -194.7 482.4 -9.3 910 5173 0.00 0.00 0.00 0.000 6 0.000 0.000 2667 2251 3882

5510 -1.29 -194.7 513.2 -9.3 971 5516 0.00 2.75 0.00 0.000 4 0.000 0.117 2667 3653 3882

5545 -1.29 -194.7 516.4 -9.3 977 5551 0.00 2.65 0.00 0.000 6 0.000 0.098 2667 2255 3881

5888 -1.29 -194.7 547.3 -9.1 1038 5893 0.00 0.00 0.00 0.000 6 0.000 0.000 2667 2255 3882

6230 -1.29 -194.7 577.9 -9.4 1099 6235 0.00 0.00 0.00 0.000 6 0.000 0.000 2667 2256 3881

6568 -1.29 -194.7 609.0 -9.1 1151 6570 0.00 0.00 0.00 0.000 6 0.000 0.000 2667 2255 3882

6887 -1.29 -194.7 637.6 -9.1 1181 6888 0.00 0.00 0.00 0.000 6 0.000 0.000 2667 2256 3881

7207 -1.29 -194.7 666.6 -9.2 1211 7211 0.00 2.75 0.00 0.000 4 0.000 0.122 2667 3646 3881

7246 -1.29 -194.7 670.7 -10.0 1214 7250 0.00 2.67 0.00 0.000 6 0.000 0.103 2667 2250 3881

7572 -1.29 -194.7 699.1 -8.4 1244 7573 0.00 0.00 0.00 0.000 6 0.000 0.000 2667 2250 3881

7891 -1.29 -194.7 724.3 -7.7 1274 7892 0.00 0.00 0.00 0.000 6 0.000 0.000 2667 2250 3881

8209 -1.29 -194.7 748.7 -7.9 1304 8210 0.00 0.00 0.00 0.000 6 0.000 0.000 2667 2250 3881

8226 end dive: TARGET_DEPTH_EXCEEDED

state 8226 begin apogee

8232 -0.35 0.0 750.4 7.9 1306 8400 1.05 0.00 161.10 1.249 6 0.102 0.000 2880 2330 3084

8400 end apogee: CONTROL_FINISHED_OK

state 8401 begin climb

8403 1.29 194.7 756.0 0.0 1323 8572 1.62 2.92 158.68 1.211 4 0.061 0.123 3239 3737 2291

8651 1.17 194.7 734.0 13.8 1346 8657 0.12 2.78 0.00 0.000 6 0.115 0.104 3218 2324 2289

8976 1.11 194.7 694.3 12.0 1376 8977 0.00 0.00 0.00 0.000 6 0.000 0.000 3218 2325 2289

9296 1.05 194.7 655.8 11.8 1406 9298 0.15 0.00 0.00 0.000 6 0.110 0.000 3190 2325 2288

9614 1.05 194.7 622.9 10.1 1436 9619 0.00 2.83 0.00 0.000 4 0.000 0.117 3190 3742 2287

9653 1.00 194.7 618.6 11.2 1439 9658 0.00 2.72 0.00 0.000 6 0.000 0.100 3190 2332 2287

9985 1.00 194.7 584.4 10.2 1482 9990 0.00 0.00 0.00 0.000 6 0.000 0.000 3190 2332 2287

10328 1.00 194.7 547.5 11.0 1543 10334 0.00 2.78 0.00 0.000 4 0.000 0.114 3190 3738 2287

10363 0.95 194.7 543.6 11.5 1549 10370 0.12 2.70 0.00 0.000 6 0.111 0.097 3168 2329 2287

10708 0.96 195.1 510.3 10.0 1610 10713 0.00 0.00 0.00 0.000 6 0.000 0.000 3168 2328 2287

11050 0.96 202.1 477.9 9.8 1671 11061 0.00 0.00 7.20 0.943 6 0.000 0.000 3168 2329 2261

11400 0.98 212.8 443.8 9.6 1733 11416 0.00 0.00 10.65 0.998 6 0.000 0.000 3167 2328 2216

11753 0.99 227.5 408.8 9.5 1796 11770 0.00 0.00 13.60 0.989 6 0.000 0.000 3168 2328 2157

12107 1.01 240.3 374.3 9.6 1859 12123 0.00 0.00 11.98 0.958 6 0.000 0.000 3168 2329 2105

12460 1.05 268.9 341.1 9.0 1922 12488 0.00 0.00 24.80 0.961 6 0.000 0.000 3168 2328 1988

12826 1.09 306.6 306.8 8.7 1987 12864 0.12 0.00 32.40 0.935 6 0.064 0.000 3200 2329 1834

13204 1.09 306.6 263.9 11.7 2054 13209 0.00 0.00 0.00 0.000 6 0.000 0.000 3200 2329 1829

13546 1.09 306.6 222.1 12.3 2115 13552 0.00 2.78 0.00 0.000 4 0.000 0.109 3200 3743 1828

13575 1.09 306.6 218.4 13.1 2120 13582 0.00 2.67 0.00 0.000 6 0.000 0.094 3200 2337 1828

13919 1.09 306.6 175.6 12.4 2181 13924 0.00 0.00 0.00 0.000 6 0.000 0.000 3200 2337 1828

14262 1.09 306.6 131.8 12.2 2242 14268 0.00 0.00 0.00 0.000 6 0.000 0.000 3200 2337 1828

14404 1.09 306.6 114.2 12.4 2267 14409 0.00 0.00 0.00 0.000 6 0.000 0.000 3200 2337 1827

14545 1.09 306.6 96.6 11.8 2292 14551 0.00 0.00 0.00 0.000 6 0.000 0.000 3201 2337 1827

14687 1.09 306.6 79.0 12.2 2317 14693 0.00 0.00 0.00 0.000 6 0.000 0.000 3200 2337 1827

14828 1.09 306.6 61.4 12.0 2342 14835 0.00 2.75 0.00 0.000 4 0.000 0.109 3200 911 1827

14853 1.09 306.6 58.4 12.7 2346 14859 0.00 2.70 0.00 0.000 6 0.000 0.095 3200 2342 1827

14996 1.09 306.6 41.3 11.8 2371 15002 0.00 0.00 0.00 0.000 6 0.000 0.000 3200 2342 1827

15137 1.09 306.6 23.6 11.3 2396 15143 0.00 0.00 0.00 0.000 6 0.000 0.000 3200 2342 1827

15279 1.09 306.6 6.5 11.8 2421 15285 0.00 0.00 0.00 0.000 6 0.000 0.000 3200 2342 1827

15317 end climb: SURFACE_DEPTH_REACHED

state 15317 begin surface coast

15335 end surface coast: CONTROL_FINISHED_OK

state 15336 begin surface

ID	140	HD_C	9.9999997e-06	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0
MISSION	5	HEADING	270	PITCH_ADJ_GAIN	0.02	ALTIM_BOTTOM_TURN_MARGIN	0
DIVE	31	ESCAPE_HEADING	0	PITCH_ADJ_DBAND	2	ALTIM_TOP_TURN_MARGIN	0
D_SURF	2	ESCAPE_HEADING_DELTA	10	ROLL_MIN	157	ALTIM_TOP_MIN_OBSTACLE	1
D_FLARE	3	FIX_MISSING_TIMEOUT	0	ROLL_MAX	3940	ALTIM_PING_DEPTH	0
D_TGT	750	TGT_DEFAULT_LAT	5900	ROLL_DEG	40	ALTIM_PING_DELTA	0
D_ABORT	800	TGT_DEFAULT_LON	-2030	C_ROLL_DIVE	2235	ALTIM_FREQUENCY	13
D_NO_BLEED	350	TGT_AUTO_DEFAULT	0	C_ROLL_CLIMB	2330	ALTIM_PULSE	3
D_FINISH	0	SM_CC	200	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
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	11	DEEPGLIDER	0
SURFACE_URGENCY	0	COMM_SEQ	0	R_STBD_OVSHOOT	11	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	250	N_NOSURFACE	0	ROLL_ADJ_GAIN	3	DEVICE2	20
T_MISSION	280	UPLOAD_DIVES_MAX	-1	ROLL_ADJ_DBAND	0.029999999	DEVICE3	35
T_ABORT	720	CALL_TRIES	5	VBD_MIN	520	DEVICE4	53
T_TURN	225	CALL_WAIT	60	VBD_MAX	3978	DEVICE5	-1
T_TURN_SAMPINT	5	CAPUPLOAD	0	C_VBD	3085	DEVICE6	-1
T_NO_W	120	CAPMAXSIZE	100000	VBD_DBAND	2	SMARTS	0
USE_BATHY	0	HEAPDBG	0	VBD_CNV	-0.24529999	SMARTDEVICE1	-1
USE_ICE	0	T_GPS	15	VBD_TIMEOUT	720	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.30000001	N_GPS	20	PITCH_VBD_SHIFT	0.0012300001	COMPASS_DEVICE	33
D_OFFGRID	100	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_SURFACE	5	PHONE_DEVICE	48
T_WATCHDOG	10	T_GPS_CHARGE	-13768.016	VBD_PUMP_AD_RATE_APOGEE	4	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	592	AH0_24V	91.800003	SEABIRD_T_G	0.0043273787
SPEED_FACTOR	1	PITCH_MAX	3894	AH0_10V	100	SEABIRD_T_H	0.0006414231
RHO	1.0273	C_PITCH	2960	PRESSURE_YINT	-1.4601949	SEABIRD_T_I	2.3931538e-05
MASS	51662	PITCH_DBAND	0.1	PRESSURE_SLOPE	9.0994887e-05	SEABIRD_T_J	2.340664e-06
NAV_MODE	0	PITCH_CNV	0.0046000001	AD7714Ch0Gain	64	SEABIRD_C_G	-10.258962
FERRY_MAX	0	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1819305
KALMAN_USE	2	PITCH_GAIN	14.2	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	175	ALTIM_BOTTOM_PING_RANGE	0

GPS1	150638,5905.344,-1818.988,34,1.0,34,-13.1	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	5905.278,-1824.604
_XMS_NAKs	3	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	0.87	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-61.4	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	151414,5905.278,-1819.056,11,1.0,16,-13.1	MHEAD_RNG_PITCHd_Wd	283.1,20000,-14.9,-10.000
SPEED_LIMITS	0.173,0.295	D_GRID	750

FINISH	0.1,1.014234	XPDR_PINGS	115
SM_CCo	15416,0.00,0.000,0,0,1823,309.57	_24V_AH	23.5,14.182
SM_GC	0.85,11.50,0.00,0.00,0.049,0.000,0.000,592,2234,1823,-10.85,-0.03,309.57	_10V_AH	10.7,7.231
IRIDIUM_FIX	5846.12,-1815.49,050797,101054	DATA_FILE_SIZE	135828,2431
TT8_MAMPS	0.02301	CAP_FILE_SIZE	174915,0
HUMID	1574	CFSIZE	260165632,254054400
INTERNAL_PRESSURE	8.42806	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	18.20	GPS	100408,193258,5903.759,-1823.724,36,3.5,55,-13.2

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	27	198	127.80	SBE_CT	1680	24	947.98
Roll_motor	60	134	191.77	SBE_O2	1816	19	811.05
VBD_pump_during_apogee	420	1249	12343.75	WL_BB2F	1842	105	4545.86
VBD_pump_during_surface	0	0	0.00	Optode	1140	33	884.44
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	29	103	70.81	nil	0	0	0.00
Iridium_during_connect	32	160	123.70	nil	0	0	0.00
Iridium_during_xfer	249	223	1307.91
Transponder_ping	28	420	283.76
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	16	50	9.01
TT8	3618	19	766.53
LPSleep	6976	2	163.47
TT8_Active	547	19	115.92
TT8_Sampling	4065	39	1731.32
TT8_CF8	641	45	314.38
TT8_Kalman	0	0	0.00
Analog_circuits	2299	12	295.31
GPS_charging	0	0	0.00
Compass	4065	8	348.04
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
27	-1.29	-194.7	0.0	0.0	0	95	0.00	0.00	-65.55	0.000	2	0.000	0.000	593	2224	3593
98	-1.29	-194.7	3.4	-6.7	12	123	12.68	2.78	-6.05	0.000	4	0.199	0.117	2667	3654	3881
361	-1.29	-194.7	35.6	-10.7	58	367	0.00	2.67	0.00	0.000	6	0.000	0.092	2667	2233	3882
503	-1.29	-194.7	51.5	-10.9	83	509	0.00	0.00	0.00	0.000	6	0.000	0.000	2667	2233	3881
644	-1.29	-194.7	65.8	-10.4	108	650	0.00	0.00	0.00	0.000	6	0.000	0.000	2667	2233	3881
786	-1.29	-194.7	78.2	-9.3	133	792	0.00	0.00	0.00	0.000	6	0.000	0.000	2667	2234	3882
928	-1.29	-194.7	91.1	-9.6	158	933	0.00	0.00	0.00	0.000	6	0.000	0.000	2667	2233	3881
1069	-1.29	-194.7	103.4	-8.9	183	1075	0.00	0.00	0.00	0.000	6	0.000	0.000	2667	2233	3881
1211	-1.29	-194.7	114.7	-7.9	208	1217	0.00	0.00	0.00	0.000	6	0.000	0.000	2667	2233	3882
1353	-1.29	-194.7	126.7	-8.6	233	1359	0.00	0.00	0.00	0.000	6	0.000	0.000	2667	2233	3882
1495	-1.29	-194.7	139.3	-9.0	258	1500	0.00	0.00	0.00	0.000	6	0.000	0.000	2667	2233	3882
1636	-1.29	-194.7	151.9	-9.6	283	1642	0.00	2.75	0.00	0.000	4	0.000	0.110	2667	3648	3881
1665	-1.29	-194.7	154.9	-10.6	288	1672	0.00	2.65	0.00	0.000	6	0.000	0.094	2667	2243	3882
2009	-1.29	-194.7	187.5	-10.0	349	2014	0.00	0.00	0.00	0.000	6	0.000	0.000	2667	2244	3882
2351	-1.29	-194.7	221.3	-9.6	410	2357	0.00	0.00	0.00	0.000	6	0.000	0.000	2667	2244	3882
2695	-1.29	-194.7	255.1	-9.3	471	2701	0.00	2.72	0.00	0.000	4	0.000	0.111	2667	3646	3882
2730	-1.29	-194.7	258.5	-10.3	477	2736	0.00	2.65	0.00	0.000	6	0.000	0.096	2667	2246	3882
3073	-1.29	-194.7	290.7	-9.8	538	3079	0.00	0.00	0.00	0.000	6	0.000	0.000	2667	2246	3882
3417	-1.29	-194.7	323.4	-8.8	599	3422	0.00	0.00	0.00	0.000	6	0.000	0.000	2667	2246	3881
3759	-1.29	-194.7	353.7	-8.6	660	3765	0.00	0.00	0.00	0.000	6	0.000	0.000	2667	2246	3881
4103	-1.29	-194.7	383.8	-8.9	721	4109	0.00	2.72	0.00	0.000	4	0.000	0.115	2667	3646	3882
4138	-1.29	-194.7	387.1	-9.8	727	4144	0.00	2.65	0.00	0.000	6	0.000	0.098	2667	2250	3882
4482	-1.29	-194.7	418.2	-9.3	788	4488	0.00	0.00	0.00	0.000	6	0.000	0.000	2667	2251	3882
4825	-1.29	-194.7	450.2	-9.4	849	4831	0.00	0.00	0.00	0.000	6	0.000	0.000	2667	2251	3882
5168	-1.29	-194.7	482.4	-9.3	910	5173	0.00	0.00	0.00	0.000	6	0.000	0.000	2667	2251	3882
5510	-1.29	-194.7	513.2	-9.3	971	5516	0.00	2.75	0.00	0.000	4	0.000	0.117	2667	3653	3882
5545	-1.29	-194.7	516.4	-9.3	977	5551	0.00	2.65	0.00	0.000	6	0.000	0.098	2667	2255	3881
5888	-1.29	-194.7	547.3	-9.1	1038	5893	0.00	0.00	0.00	0.000	6	0.000	0.000	2667	2255	3882
6230	-1.29	-194.7	577.9	-9.4	1099	6235	0.00	0.00	0.00	0.000	6	0.000	0.000	2667	2256	3881
6568	-1.29	-194.7	609.0	-9.1	1151	6570	0.00	0.00	0.00	0.000	6	0.000	0.000	2667	2255	3882
6887	-1.29	-194.7	637.6	-9.1	1181	6888	0.00	0.00	0.00	0.000	6	0.000	0.000	2667	2256	3881
7207	-1.29	-194.7	666.6	-9.2	1211	7211	0.00	2.75	0.00	0.000	4	0.000	0.122	2667	3646	3881
7246	-1.29	-194.7	670.7	-10.0	1214	7250	0.00	2.67	0.00	0.000	6	0.000	0.103	2667	2250	3881
7572	-1.29	-194.7	699.1	-8.4	1244	7573	0.00	0.00	0.00	0.000	6	0.000	0.000	2667	2250	3881
7891	-1.29	-194.7	724.3	-7.7	1274	7892	0.00	0.00	0.00	0.000	6	0.000	0.000	2667	2250	3881
8209	-1.29	-194.7	748.7	-7.9	1304	8210	0.00	0.00	0.00	0.000	6	0.000	0.000	2667	2250	3881
8226	end dive: TARGET_DEPTH_EXCEEDED
state	8226	begin apogee
8232	-0.35	0.0	750.4	7.9	1306	8400	1.05	0.00	161.10	1.249	6	0.102	0.000	2880	2330	3084
8400	end apogee: CONTROL_FINISHED_OK
state	8401	begin climb
8403	1.29	194.7	756.0	0.0	1323	8572	1.62	2.92	158.68	1.211	4	0.061	0.123	3239	3737	2291
8651	1.17	194.7	734.0	13.8	1346	8657	0.12	2.78	0.00	0.000	6	0.115	0.104	3218	2324	2289
8976	1.11	194.7	694.3	12.0	1376	8977	0.00	0.00	0.00	0.000	6	0.000	0.000	3218	2325	2289
9296	1.05	194.7	655.8	11.8	1406	9298	0.15	0.00	0.00	0.000	6	0.110	0.000	3190	2325	2288
9614	1.05	194.7	622.9	10.1	1436	9619	0.00	2.83	0.00	0.000	4	0.000	0.117	3190	3742	2287
9653	1.00	194.7	618.6	11.2	1439	9658	0.00	2.72	0.00	0.000	6	0.000	0.100	3190	2332	2287
9985	1.00	194.7	584.4	10.2	1482	9990	0.00	0.00	0.00	0.000	6	0.000	0.000	3190	2332	2287
10328	1.00	194.7	547.5	11.0	1543	10334	0.00	2.78	0.00	0.000	4	0.000	0.114	3190	3738	2287
10363	0.95	194.7	543.6	11.5	1549	10370	0.12	2.70	0.00	0.000	6	0.111	0.097	3168	2329	2287
10708	0.96	195.1	510.3	10.0	1610	10713	0.00	0.00	0.00	0.000	6	0.000	0.000	3168	2328	2287
11050	0.96	202.1	477.9	9.8	1671	11061	0.00	0.00	7.20	0.943	6	0.000	0.000	3168	2329	2261
11400	0.98	212.8	443.8	9.6	1733	11416	0.00	0.00	10.65	0.998	6	0.000	0.000	3167	2328	2216
11753	0.99	227.5	408.8	9.5	1796	11770	0.00	0.00	13.60	0.989	6	0.000	0.000	3168	2328	2157
12107	1.01	240.3	374.3	9.6	1859	12123	0.00	0.00	11.98	0.958	6	0.000	0.000	3168	2329	2105
12460	1.05	268.9	341.1	9.0	1922	12488	0.00	0.00	24.80	0.961	6	0.000	0.000	3168	2328	1988
12826	1.09	306.6	306.8	8.7	1987	12864	0.12	0.00	32.40	0.935	6	0.064	0.000	3200	2329	1834
13204	1.09	306.6	263.9	11.7	2054	13209	0.00	0.00	0.00	0.000	6	0.000	0.000	3200	2329	1829
13546	1.09	306.6	222.1	12.3	2115	13552	0.00	2.78	0.00	0.000	4	0.000	0.109	3200	3743	1828
13575	1.09	306.6	218.4	13.1	2120	13582	0.00	2.67	0.00	0.000	6	0.000	0.094	3200	2337	1828
13919	1.09	306.6	175.6	12.4	2181	13924	0.00	0.00	0.00	0.000	6	0.000	0.000	3200	2337	1828
14262	1.09	306.6	131.8	12.2	2242	14268	0.00	0.00	0.00	0.000	6	0.000	0.000	3200	2337	1828
14404	1.09	306.6	114.2	12.4	2267	14409	0.00	0.00	0.00	0.000	6	0.000	0.000	3200	2337	1827
14545	1.09	306.6	96.6	11.8	2292	14551	0.00	0.00	0.00	0.000	6	0.000	0.000	3201	2337	1827
14687	1.09	306.6	79.0	12.2	2317	14693	0.00	0.00	0.00	0.000	6	0.000	0.000	3200	2337	1827
14828	1.09	306.6	61.4	12.0	2342	14835	0.00	2.75	0.00	0.000	4	0.000	0.109	3200	911	1827
14853	1.09	306.6	58.4	12.7	2346	14859	0.00	2.70	0.00	0.000	6	0.000	0.095	3200	2342	1827
14996	1.09	306.6	41.3	11.8	2371	15002	0.00	0.00	0.00	0.000	6	0.000	0.000	3200	2342	1827
15137	1.09	306.6	23.6	11.3	2396	15143	0.00	0.00	0.00	0.000	6	0.000	0.000	3200	2342	1827
15279	1.09	306.6	6.5	11.8	2421	15285	0.00	0.00	0.00	0.000	6	0.000	0.000	3200	2342	1827
15317	end climb: SURFACE_DEPTH_REACHED
state	15317	begin surface coast
15335	end surface coast: CONTROL_FINISHED_OK
state	15336	begin surface