Glider dive log

NAB Apr08 * SG140 * Dive index * Mission links * Dive 35 * 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 35 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 12 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 -13824.37 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 -13824.37

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 12 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 35 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 090137,5902.981,-1837.742,35,1.0,41,-13.3 TGT_NAME HEADING

_CALLS 2 TGT_LATLONG 5902.958,-1843.267

_XMS_NAKs 1 TGT_RADIUS 1852.000

_XMS_TOUTs 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 0.82 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -53.9 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 091220,5902.958,-1837.713,14,1.0,14,-13.3 MHEAD_RNG_PITCHd_Wd 283.3,20000,-14.9,-10.000

SPEED_LIMITS 0.173,0.295 D_GRID 750

Post-dive calculations and measurements:

FINISH 0.5,1.027733 XPDR_PINGS 111

SM_CCo 15339,0.00,0.000,0,0,1960,275.72 _24V_AH 23.5,14.846

SM_GC 0.82,11.50,0.00,0.00,0.046,0.000,0.000,590,2233,1960,-10.85,-0.06,275.72 _10V_AH 10.7,7.974

IRIDIUM_FIX 5837.82,-1749.13,060797,090936 DATA_FILE_SIZE 138753,2425

TT8_MAMPS 0.02301 CAP_FILE_SIZE 179001,0

HUMID 1591 CFSIZE 260165632,253665280

INTERNAL_PRESSURE 8.44759 ERRORS 0,1,0,0,0,0,0,0,0,0,0,1,0,0,0

TCM_TEMP 18.50 GPS 110408,132931,5904.240,-1840.687,40,1.7,40,-13.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 27 200 129.75 SBE_CT 1676 24 945.49

Roll_motor 83 137 268.27 SBE_O2 1817 19 811.48

VBD_pump_during_apogee 392 1253 11551.09 WL_BB2F 1831 105 4520.21

VBD_pump_during_surface 0 0 0.00 Optode 1131 33 877.23

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 54 103 131.02 nil 0 0 0.00

Iridium_during_connect 67 160 251.97 nil 0 0 0.00

Iridium_during_xfer 316 223 1656.86

Transponder_ping 27 420 273.89

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 14 50 7.99

TT8 3613 19 765.62

LPSleep 6991 2 163.82

TT8_Active 549 19 116.32

TT8_Sampling 4041 39 1721.20

TT8_CF8 763 45 374.25

TT8_Kalman 0 0 0.00

Analog_circuits 2298 12 295.12

GPS_charging 0 0 0.00

Compass 4040 8 345.87

RAFOS 0 0 0.00

Guidance and control:

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

25 end surface: CONTROL_FINISHED_OK

state 25 begin dive

28 -1.29 -194.7 0.0 0.0 0 112 0.00 0.00 -81.47 0.000 2 0.000 0.000 593 2222 3670

115 -1.29 -194.7 3.5 -6.8 15 139 12.80 2.78 -4.20 0.000 4 0.201 0.116 2670 3649 3880

394 -1.29 -194.7 34.6 -8.8 64 400 0.00 2.65 0.00 0.000 6 0.000 0.091 2670 2235 3881

536 -1.29 -194.7 48.9 -11.5 89 542 0.00 2.72 0.00 0.000 4 0.000 0.107 2670 3648 3880

593 -1.29 -194.7 57.0 -15.2 99 600 0.00 2.67 0.00 0.000 6 0.000 0.092 2669 2229 3881

737 -1.29 -194.7 70.6 -8.9 124 743 0.00 0.00 0.00 0.000 6 0.000 0.000 2670 2229 3881

879 -1.29 -194.7 83.8 -8.8 149 885 0.00 0.00 0.00 0.000 6 0.000 0.000 2670 2230 3880

1021 -1.29 -194.7 95.9 -8.4 174 1027 0.00 0.00 0.00 0.000 6 0.000 0.000 2670 2230 3880

1163 -1.29 -194.7 107.8 -9.1 199 1169 0.00 0.00 0.00 0.000 6 0.000 0.000 2670 2229 3880

1305 -1.29 -194.7 121.9 -9.2 224 1311 0.00 0.00 0.00 0.000 6 0.000 0.000 2670 2229 3881

1446 -1.29 -194.7 136.0 -7.9 249 1452 0.00 0.00 0.00 0.000 6 0.000 0.000 2670 2229 3880

1588 -1.29 -194.7 152.7 -12.2 274 1594 0.00 2.78 0.00 0.000 4 0.000 0.110 2669 3655 3880

1611 -1.29 -194.7 155.5 -11.7 278 1618 0.00 2.67 0.00 0.000 6 0.000 0.092 2670 2232 3880

1955 -1.29 -194.7 185.3 -9.5 339 1961 0.00 0.00 0.00 0.000 6 0.000 0.000 2670 2233 3880

2297 -1.29 -194.7 218.4 -10.6 400 2303 0.00 0.00 0.00 0.000 6 0.000 0.000 2670 2232 3881

2641 -1.29 -194.7 250.9 -9.0 461 2647 0.00 2.78 0.00 0.000 4 0.000 0.113 2669 3654 3881

2682 -1.29 -194.7 254.7 -9.5 468 2688 0.00 2.67 0.00 0.000 6 0.000 0.095 2670 2237 3881

3026 -1.29 -194.7 285.7 -9.2 529 3031 0.00 0.00 0.00 0.000 6 0.000 0.000 2670 2238 3880

3368 -1.29 -194.7 315.5 -8.6 590 3374 0.00 2.75 0.00 0.000 4 0.000 0.114 2670 3649 3880

3414 -1.29 -194.7 319.4 -8.6 598 3420 0.00 2.67 0.00 0.000 6 0.000 0.096 2670 2231 3880

3759 -1.29 -194.7 348.5 -8.4 659 3764 0.00 0.00 0.00 0.000 6 0.000 0.000 2670 2232 3881

4101 -1.29 -194.7 377.5 -8.6 720 4107 0.00 2.78 0.00 0.000 4 0.000 0.116 2670 3652 3880

4143 -1.29 -194.7 381.1 -9.2 727 4149 0.00 2.67 0.00 0.000 6 0.000 0.098 2669 2243 3880

4486 -1.29 -194.7 411.7 -9.3 788 4492 0.00 0.00 0.00 0.000 6 0.000 0.000 2670 2243 3880

4830 -1.29 -194.7 444.5 -9.3 849 4835 0.00 0.00 0.00 0.000 6 0.000 0.000 2670 2243 3880

5172 -1.29 -194.7 477.3 -10.3 910 5178 0.00 2.75 0.00 0.000 4 0.000 0.116 2670 3646 3880

5247 -1.29 -194.7 484.5 -9.6 923 5252 0.00 2.65 0.00 0.000 6 0.000 0.099 2670 2250 3880

5590 -1.29 -194.7 517.1 -9.3 984 5596 0.00 0.00 0.00 0.000 6 0.000 0.000 2670 2251 3880

5933 -1.29 -194.7 548.7 -8.6 1045 5939 0.00 2.75 0.00 0.000 4 0.000 0.118 2670 3649 3880

5968 -1.29 -194.7 551.6 -8.9 1051 5974 0.00 2.67 0.00 0.000 6 0.000 0.099 2670 2242 3880

6312 -1.29 -194.7 576.8 -7.2 1112 6318 0.00 0.00 0.00 0.000 6 0.000 0.000 2670 2243 3880

6654 -1.29 -194.7 602.1 -8.2 1171 6655 0.00 0.00 0.00 0.000 6 0.000 0.000 2670 2243 3880

6974 -1.29 -194.7 627.5 -8.8 1201 6975 0.00 0.00 0.00 0.000 6 0.000 0.000 2670 2243 3880

7293 -1.29 -194.7 654.7 -8.7 1231 7294 0.00 0.00 0.00 0.000 6 0.000 0.000 2670 2243 3880

7611 -1.29 -194.7 683.7 -9.0 1261 7613 0.00 0.00 0.00 0.000 6 0.000 0.000 2670 2244 3880

7930 -1.29 -194.7 713.4 -9.7 1291 7931 0.00 0.00 0.00 0.000 6 0.000 0.000 2670 2243 3879

8247 -1.29 -194.7 743.9 -10.0 1321 8248 0.00 0.00 0.00 0.000 6 0.000 0.000 2670 2243 3879

8308 end dive: TARGET_DEPTH_EXCEEDED

state 8308 begin apogee

8314 -0.35 0.0 750.1 9.6 1327 8481 1.02 0.00 160.50 1.253 6 0.100 0.000 2878 2333 3085

8482 end apogee: CONTROL_FINISHED_OK

state 8482 begin climb

8484 1.29 194.7 757.1 0.0 1344 8653 1.62 2.97 157.98 1.219 4 0.061 0.129 3238 3741 2291

8703 1.18 194.7 739.3 14.2 1364 8710 0.12 2.80 0.00 0.000 6 0.115 0.105 3217 2322 2290

9028 1.12 194.7 696.4 13.2 1395 9032 0.00 2.90 0.00 0.000 4 0.000 0.135 3217 914 2289

9049 1.07 194.7 693.4 14.0 1396 9056 0.12 2.78 0.00 0.000 6 0.110 0.108 3194 2328 2289

9373 1.07 194.7 655.3 11.3 1427 9374 0.00 0.00 0.00 0.000 6 0.000 0.000 3194 2328 2289

9692 1.07 194.7 622.4 10.1 1457 9696 0.00 2.83 0.00 0.000 4 0.000 0.121 3194 3742 2288

9713 1.03 194.7 620.1 10.8 1458 9719 0.00 2.75 0.00 0.000 6 0.000 0.101 3194 2320 2288

10044 1.03 194.7 587.3 10.2 1500 10049 0.00 0.00 0.00 0.000 6 0.000 0.000 3194 2321 2287

10386 1.03 194.7 547.5 12.6 1561 10391 0.00 0.00 0.00 0.000 6 0.000 0.000 3194 2320 2287

10728 1.03 194.7 504.7 12.3 1622 10734 0.00 2.80 0.00 0.000 4 0.000 0.114 3193 3740 2287

10785 0.97 194.7 497.6 12.9 1632 10793 0.12 2.70 0.00 0.000 6 0.111 0.100 3171 2331 2287

11131 1.00 214.7 461.4 9.3 1693 11154 0.00 2.90 17.38 1.049 4 0.000 0.112 3171 3743 2209

11200 1.00 214.7 454.3 10.6 1705 11206 0.00 2.67 0.00 0.000 6 0.000 0.096 3171 2351 2208

11543 1.01 226.1 421.8 9.6 1766 11560 0.00 2.85 10.98 0.985 4 0.000 0.114 3172 917 2162

11584 1.02 229.8 417.9 9.9 1773 11596 0.00 2.78 4.70 0.715 6 0.000 0.100 3171 2355 2148

11933 1.02 229.8 384.5 10.2 1835 11938 0.00 0.00 0.00 0.000 6 0.000 0.000 3171 2356 2147

12275 1.02 229.8 349.8 10.4 1896 12281 0.00 0.00 0.00 0.000 6 0.000 0.000 3171 2356 2147

12618 1.02 233.5 314.5 9.9 1957 12624 0.00 0.00 4.75 0.733 6 0.000 0.000 3171 2356 2132

12962 1.03 237.7 278.4 9.9 2018 12974 0.00 2.83 5.53 0.775 4 0.000 0.110 3171 919 2114

13009 1.07 237.7 273.5 10.4 2026 13015 0.00 2.72 0.00 0.000 6 0.000 0.095 3171 2356 2115

13353 1.12 274.0 240.5 8.7 2087 13386 0.15 0.00 30.40 0.905 6 0.061 0.000 3214 2355 1968

13724 1.12 274.0 196.0 12.3 2153 13729 0.00 0.00 0.00 0.000 6 0.000 0.000 3213 2356 1964

14066 1.12 274.0 153.3 12.9 2214 14072 0.00 0.00 0.00 0.000 6 0.000 0.000 3214 2355 1963

14409 1.12 274.0 108.1 13.3 2275 14415 0.00 0.00 0.00 0.000 6 0.000 0.000 3214 2356 1963

14552 1.12 274.0 89.3 12.4 2300 14557 0.00 0.00 0.00 0.000 6 0.000 0.000 3214 2356 1963

14693 1.12 274.0 70.9 12.3 2325 14699 0.00 0.00 0.00 0.000 6 0.000 0.000 3213 2355 1963

14835 1.12 274.0 53.7 11.8 2350 14840 0.00 0.00 0.00 0.000 6 0.000 0.000 3214 2356 1963

14976 1.12 274.0 36.1 12.1 2375 14982 0.00 0.00 0.00 0.000 6 0.000 0.000 3213 2356 1963

15118 1.12 274.0 19.0 16.6 2400 15123 0.00 0.00 0.00 0.000 6 0.000 0.000 3214 2356 1963

15247 end climb: SURFACE_DEPTH_REACHED

state 15247 begin surface coast

15258 end surface coast: CONTROL_FINISHED_OK

state 15258 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	35	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	12	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	-13824.37	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	090137,5902.981,-1837.742,35,1.0,41,-13.3	TGT_NAME	HEADING
_CALLS	2	TGT_LATLONG	5902.958,-1843.267
_XMS_NAKs	1	TGT_RADIUS	1852.000
_XMS_TOUTs	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	0.82	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-53.9	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	091220,5902.958,-1837.713,14,1.0,14,-13.3	MHEAD_RNG_PITCHd_Wd	283.3,20000,-14.9,-10.000
SPEED_LIMITS	0.173,0.295	D_GRID	750

FINISH	0.5,1.027733	XPDR_PINGS	111
SM_CCo	15339,0.00,0.000,0,0,1960,275.72	_24V_AH	23.5,14.846
SM_GC	0.82,11.50,0.00,0.00,0.046,0.000,0.000,590,2233,1960,-10.85,-0.06,275.72	_10V_AH	10.7,7.974
IRIDIUM_FIX	5837.82,-1749.13,060797,090936	DATA_FILE_SIZE	138753,2425
TT8_MAMPS	0.02301	CAP_FILE_SIZE	179001,0
HUMID	1591	CFSIZE	260165632,253665280
INTERNAL_PRESSURE	8.44759	ERRORS	0,1,0,0,0,0,0,0,0,0,0,1,0,0,0
TCM_TEMP	18.50	GPS	110408,132931,5904.240,-1840.687,40,1.7,40,-13.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	27	200	129.75	SBE_CT	1676	24	945.49
Roll_motor	83	137	268.27	SBE_O2	1817	19	811.48
VBD_pump_during_apogee	392	1253	11551.09	WL_BB2F	1831	105	4520.21
VBD_pump_during_surface	0	0	0.00	Optode	1131	33	877.23
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	54	103	131.02	nil	0	0	0.00
Iridium_during_connect	67	160	251.97	nil	0	0	0.00
Iridium_during_xfer	316	223	1656.86
Transponder_ping	27	420	273.89
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	14	50	7.99
TT8	3613	19	765.62
LPSleep	6991	2	163.82
TT8_Active	549	19	116.32
TT8_Sampling	4041	39	1721.20
TT8_CF8	763	45	374.25
TT8_Kalman	0	0	0.00
Analog_circuits	2298	12	295.12
GPS_charging	0	0	0.00
Compass	4040	8	345.87
RAFOS	0	0	0.00

st_secs	pitch_ctl	vbd_ctl	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad
25	end surface: CONTROL_FINISHED_OK
state	25	begin dive
28	-1.29	-194.7	0.0	0.0	0	112	0.00	0.00	-81.47	0.000	2	0.000	0.000	593	2222	3670
115	-1.29	-194.7	3.5	-6.8	15	139	12.80	2.78	-4.20	0.000	4	0.201	0.116	2670	3649	3880
394	-1.29	-194.7	34.6	-8.8	64	400	0.00	2.65	0.00	0.000	6	0.000	0.091	2670	2235	3881
536	-1.29	-194.7	48.9	-11.5	89	542	0.00	2.72	0.00	0.000	4	0.000	0.107	2670	3648	3880
593	-1.29	-194.7	57.0	-15.2	99	600	0.00	2.67	0.00	0.000	6	0.000	0.092	2669	2229	3881
737	-1.29	-194.7	70.6	-8.9	124	743	0.00	0.00	0.00	0.000	6	0.000	0.000	2670	2229	3881
879	-1.29	-194.7	83.8	-8.8	149	885	0.00	0.00	0.00	0.000	6	0.000	0.000	2670	2230	3880
1021	-1.29	-194.7	95.9	-8.4	174	1027	0.00	0.00	0.00	0.000	6	0.000	0.000	2670	2230	3880
1163	-1.29	-194.7	107.8	-9.1	199	1169	0.00	0.00	0.00	0.000	6	0.000	0.000	2670	2229	3880
1305	-1.29	-194.7	121.9	-9.2	224	1311	0.00	0.00	0.00	0.000	6	0.000	0.000	2670	2229	3881
1446	-1.29	-194.7	136.0	-7.9	249	1452	0.00	0.00	0.00	0.000	6	0.000	0.000	2670	2229	3880
1588	-1.29	-194.7	152.7	-12.2	274	1594	0.00	2.78	0.00	0.000	4	0.000	0.110	2669	3655	3880
1611	-1.29	-194.7	155.5	-11.7	278	1618	0.00	2.67	0.00	0.000	6	0.000	0.092	2670	2232	3880
1955	-1.29	-194.7	185.3	-9.5	339	1961	0.00	0.00	0.00	0.000	6	0.000	0.000	2670	2233	3880
2297	-1.29	-194.7	218.4	-10.6	400	2303	0.00	0.00	0.00	0.000	6	0.000	0.000	2670	2232	3881
2641	-1.29	-194.7	250.9	-9.0	461	2647	0.00	2.78	0.00	0.000	4	0.000	0.113	2669	3654	3881
2682	-1.29	-194.7	254.7	-9.5	468	2688	0.00	2.67	0.00	0.000	6	0.000	0.095	2670	2237	3881
3026	-1.29	-194.7	285.7	-9.2	529	3031	0.00	0.00	0.00	0.000	6	0.000	0.000	2670	2238	3880
3368	-1.29	-194.7	315.5	-8.6	590	3374	0.00	2.75	0.00	0.000	4	0.000	0.114	2670	3649	3880
3414	-1.29	-194.7	319.4	-8.6	598	3420	0.00	2.67	0.00	0.000	6	0.000	0.096	2670	2231	3880
3759	-1.29	-194.7	348.5	-8.4	659	3764	0.00	0.00	0.00	0.000	6	0.000	0.000	2670	2232	3881
4101	-1.29	-194.7	377.5	-8.6	720	4107	0.00	2.78	0.00	0.000	4	0.000	0.116	2670	3652	3880
4143	-1.29	-194.7	381.1	-9.2	727	4149	0.00	2.67	0.00	0.000	6	0.000	0.098	2669	2243	3880
4486	-1.29	-194.7	411.7	-9.3	788	4492	0.00	0.00	0.00	0.000	6	0.000	0.000	2670	2243	3880
4830	-1.29	-194.7	444.5	-9.3	849	4835	0.00	0.00	0.00	0.000	6	0.000	0.000	2670	2243	3880
5172	-1.29	-194.7	477.3	-10.3	910	5178	0.00	2.75	0.00	0.000	4	0.000	0.116	2670	3646	3880
5247	-1.29	-194.7	484.5	-9.6	923	5252	0.00	2.65	0.00	0.000	6	0.000	0.099	2670	2250	3880
5590	-1.29	-194.7	517.1	-9.3	984	5596	0.00	0.00	0.00	0.000	6	0.000	0.000	2670	2251	3880
5933	-1.29	-194.7	548.7	-8.6	1045	5939	0.00	2.75	0.00	0.000	4	0.000	0.118	2670	3649	3880
5968	-1.29	-194.7	551.6	-8.9	1051	5974	0.00	2.67	0.00	0.000	6	0.000	0.099	2670	2242	3880
6312	-1.29	-194.7	576.8	-7.2	1112	6318	0.00	0.00	0.00	0.000	6	0.000	0.000	2670	2243	3880
6654	-1.29	-194.7	602.1	-8.2	1171	6655	0.00	0.00	0.00	0.000	6	0.000	0.000	2670	2243	3880
6974	-1.29	-194.7	627.5	-8.8	1201	6975	0.00	0.00	0.00	0.000	6	0.000	0.000	2670	2243	3880
7293	-1.29	-194.7	654.7	-8.7	1231	7294	0.00	0.00	0.00	0.000	6	0.000	0.000	2670	2243	3880
7611	-1.29	-194.7	683.7	-9.0	1261	7613	0.00	0.00	0.00	0.000	6	0.000	0.000	2670	2244	3880
7930	-1.29	-194.7	713.4	-9.7	1291	7931	0.00	0.00	0.00	0.000	6	0.000	0.000	2670	2243	3879
8247	-1.29	-194.7	743.9	-10.0	1321	8248	0.00	0.00	0.00	0.000	6	0.000	0.000	2670	2243	3879
8308	end dive: TARGET_DEPTH_EXCEEDED
state	8308	begin apogee
8314	-0.35	0.0	750.1	9.6	1327	8481	1.02	0.00	160.50	1.253	6	0.100	0.000	2878	2333	3085
8482	end apogee: CONTROL_FINISHED_OK
state	8482	begin climb
8484	1.29	194.7	757.1	0.0	1344	8653	1.62	2.97	157.98	1.219	4	0.061	0.129	3238	3741	2291
8703	1.18	194.7	739.3	14.2	1364	8710	0.12	2.80	0.00	0.000	6	0.115	0.105	3217	2322	2290
9028	1.12	194.7	696.4	13.2	1395	9032	0.00	2.90	0.00	0.000	4	0.000	0.135	3217	914	2289
9049	1.07	194.7	693.4	14.0	1396	9056	0.12	2.78	0.00	0.000	6	0.110	0.108	3194	2328	2289
9373	1.07	194.7	655.3	11.3	1427	9374	0.00	0.00	0.00	0.000	6	0.000	0.000	3194	2328	2289
9692	1.07	194.7	622.4	10.1	1457	9696	0.00	2.83	0.00	0.000	4	0.000	0.121	3194	3742	2288
9713	1.03	194.7	620.1	10.8	1458	9719	0.00	2.75	0.00	0.000	6	0.000	0.101	3194	2320	2288
10044	1.03	194.7	587.3	10.2	1500	10049	0.00	0.00	0.00	0.000	6	0.000	0.000	3194	2321	2287
10386	1.03	194.7	547.5	12.6	1561	10391	0.00	0.00	0.00	0.000	6	0.000	0.000	3194	2320	2287
10728	1.03	194.7	504.7	12.3	1622	10734	0.00	2.80	0.00	0.000	4	0.000	0.114	3193	3740	2287
10785	0.97	194.7	497.6	12.9	1632	10793	0.12	2.70	0.00	0.000	6	0.111	0.100	3171	2331	2287
11131	1.00	214.7	461.4	9.3	1693	11154	0.00	2.90	17.38	1.049	4	0.000	0.112	3171	3743	2209
11200	1.00	214.7	454.3	10.6	1705	11206	0.00	2.67	0.00	0.000	6	0.000	0.096	3171	2351	2208
11543	1.01	226.1	421.8	9.6	1766	11560	0.00	2.85	10.98	0.985	4	0.000	0.114	3172	917	2162
11584	1.02	229.8	417.9	9.9	1773	11596	0.00	2.78	4.70	0.715	6	0.000	0.100	3171	2355	2148
11933	1.02	229.8	384.5	10.2	1835	11938	0.00	0.00	0.00	0.000	6	0.000	0.000	3171	2356	2147
12275	1.02	229.8	349.8	10.4	1896	12281	0.00	0.00	0.00	0.000	6	0.000	0.000	3171	2356	2147
12618	1.02	233.5	314.5	9.9	1957	12624	0.00	0.00	4.75	0.733	6	0.000	0.000	3171	2356	2132
12962	1.03	237.7	278.4	9.9	2018	12974	0.00	2.83	5.53	0.775	4	0.000	0.110	3171	919	2114
13009	1.07	237.7	273.5	10.4	2026	13015	0.00	2.72	0.00	0.000	6	0.000	0.095	3171	2356	2115
13353	1.12	274.0	240.5	8.7	2087	13386	0.15	0.00	30.40	0.905	6	0.061	0.000	3214	2355	1968
13724	1.12	274.0	196.0	12.3	2153	13729	0.00	0.00	0.00	0.000	6	0.000	0.000	3213	2356	1964
14066	1.12	274.0	153.3	12.9	2214	14072	0.00	0.00	0.00	0.000	6	0.000	0.000	3214	2355	1963
14409	1.12	274.0	108.1	13.3	2275	14415	0.00	0.00	0.00	0.000	6	0.000	0.000	3214	2356	1963
14552	1.12	274.0	89.3	12.4	2300	14557	0.00	0.00	0.00	0.000	6	0.000	0.000	3214	2356	1963
14693	1.12	274.0	70.9	12.3	2325	14699	0.00	0.00	0.00	0.000	6	0.000	0.000	3213	2355	1963
14835	1.12	274.0	53.7	11.8	2350	14840	0.00	0.00	0.00	0.000	6	0.000	0.000	3214	2356	1963
14976	1.12	274.0	36.1	12.1	2375	14982	0.00	0.00	0.00	0.000	6	0.000	0.000	3213	2356	1963
15118	1.12	274.0	19.0	16.6	2400	15123	0.00	0.00	0.00	0.000	6	0.000	0.000	3214	2356	1963
15247	end climb: SURFACE_DEPTH_REACHED
state	15247	begin surface coast
15258	end surface coast: CONTROL_FINISHED_OK
state	15258	begin surface