Glider dive log

NAB Apr08 * SG142 * Dive index * Mission links * Dive 376 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 142 HD_C 9.9999997e-06 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0

MISSION 5 HEADING -1 PITCH_ADJ_GAIN 0.02 ALTIM_BOTTOM_TURN_MARGIN 0

DIVE 376 ESCAPE_HEADING 0 PITCH_ADJ_DBAND 2 ALTIM_TOP_TURN_MARGIN 0

D_SURF 2 ESCAPE_HEADING_DELTA 10 ROLL_MIN 220 ALTIM_TOP_MIN_OBSTACLE 1

D_FLARE 3 FIX_MISSING_TIMEOUT 0 ROLL_MAX 3900 ALTIM_PING_DEPTH 0

D_TGT 990 TGT_DEFAULT_LAT 5900 ROLL_DEG 40 ALTIM_PING_DELTA 0

D_ABORT 1040 TGT_DEFAULT_LON -2030 C_ROLL_DIVE 2300 ALTIM_FREQUENCY 13

D_NO_BLEED 350 TGT_AUTO_DEFAULT 0 C_ROLL_CLIMB 2750 ALTIM_PULSE 3

D_FINISH 0 SM_CC 200 HEAD_ERRBAND 15 ALTIM_SENSITIVITY 3

D_PITCH 0 N_FILEKB 4 ROLL_CNV 0.028270001 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 FILEMGR 0 ROLL_TIMEOUT 15 INT_PRESSURE_YINT -1.65

D_CALL 0 CALL_NDIVES 1 R_PORT_OVSHOOT 17 DEEPGLIDER 0

SURFACE_URGENCY 0 COMM_SEQ 0 R_STBD_OVSHOOT 24 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 KERMIT 0 ROLL_AD_RATE 250 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 N_NOCOMM 1 ROLL_MAXERRORS 1 DEVICE1 2

T_DIVE 330 N_NOSURFACE 0 ROLL_ADJ_GAIN 3 DEVICE2 20

T_MISSION 360 UPLOAD_DIVES_MAX -1 ROLL_ADJ_DBAND 0.029999999 DEVICE3 53

T_ABORT 720 CALL_TRIES 5 VBD_MIN 475 DEVICE4 35

T_TURN 225 CALL_WAIT 60 VBD_MAX 3964 DEVICE5 87

T_TURN_SAMPINT 5 CAPUPLOAD 0 C_VBD 3071 DEVICE6 -1

T_NO_W 240 CAPMAXSIZE 100000 VBD_DBAND 2 SMARTS 0

USE_BATHY 0 HEAPDBG 0 VBD_CNV -0.24529999 SMARTDEVICE1 -1

USE_ICE 0 T_GPS 15 VBD_TIMEOUT 720 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.30000001 N_GPS 20 PITCH_VBD_SHIFT 0.0012300001 COMPASS_DEVICE 33

D_OFFGRID 100 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_SURFACE 4 PHONE_DEVICE 48

T_WATCHDOG 10 T_GPS_CHARGE -20036.857 VBD_PUMP_AD_RATE_APOGEE 3 GPS_DEVICE 32

RELAUNCH 1 T_RSLEEP 3 VBD_BLEED_AD_RATE 8 RAFOS_DEVICE -1

APOGEE_PITCH -5 RAFOS_PEAK_OFFSET 1.5 UNCOM_BLEED 20 XPDR_DEVICE 24

MAX_BUOY 200 RAFOS_CORR_THRESH 60 VBD_MAXERRORS 1 SIM_W 0

COURSE_BIAS 0 RAFOS_HIT_WINDOW 3600 CF8_MAXERRORS 20 SIM_PITCH 0

GLIDE_SLOPE 30 PITCH_MIN 1435 AH0_24V 150 SEABIRD_T_G 0.0043273787

SPEED_FACTOR 1 PITCH_MAX 3965 AH0_10V 100 SEABIRD_T_H 0.0006414231

RHO 1.0273 C_PITCH 2920 PRESSURE_YINT -2.876246 SEABIRD_T_I 2.3931538e-05

MASS 51804 PITCH_DBAND 0.1 PRESSURE_SLOPE 9.1518581e-05 SEABIRD_T_J 2.340664e-06

NAV_MODE 2 PITCH_CNV 0.0046000001 AD7714Ch0Gain 64 SEABIRD_C_G -10.258962

FERRY_MAX 45 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1819305

KALMAN_USE 2 PITCH_GAIN 24 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0037964056

HD_A 0.003 PITCH_TIMEOUT 15 COMPASS_USE 0 SEABIRD_C_J 0.00031207138

HD_B 0.0099999998 PITCH_AD_RATE 100 ALTIM_BOTTOM_PING_RANGE 0

AD7714Ch0Gain 64 D_FINISH 0 PITCH_AD_RATE 100 SMARTDEVICE1 -1

AH0_10V 100 D_FLARE 3 PITCH_CNV 0.0046000001 SMARTDEVICE2 -1

AH0_24V 150 D_NO_BLEED 350 PITCH_DBAND 0.1 SMARTS 0

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 100 PITCH_GAIN 24 SM_CC 200

ALTIM_BOTTOM_TURN_MARGIN 0 D_PITCH 0 PITCH_MAX 3965 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 0 D_SURF 2 PITCH_MIN 1435 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 0 D_TGT 990 PITCH_TIMEOUT 15 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 3 ESCAPE_HEADING 0 PITCH_VBD_SHIFT 0.0012300001 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 3 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 9.1518581e-05 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 45 PRESSURE_YINT -2.876246 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LAT 5900

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 RAFOS_CORR_THRESH 60 TGT_DEFAULT_LON -2030

APOGEE_PITCH -5 GLIDE_SLOPE 30 RAFOS_DEVICE -1 T_ABORT 720

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_DIVE 330

CALL_TRIES 5 HD_A 0.003 RAFOS_PEAK_OFFSET 1.5 T_GPS 15

CALL_WAIT 60 HD_B 0.0099999998 RELAUNCH 1 T_GPS_ALMANAC 0

CAPMAXSIZE 100000 HD_C 9.9999997e-06 RHO 1.0273 T_GPS_CHARGE -20036.857

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0.029999999 T_MISSION 360

CF8_MAXERRORS 20 HEAD_ERRBAND 15 ROLL_ADJ_GAIN 3 T_NO_W 240

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 250 T_RSLEEP 3

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN 225

COMPASS_USE 0 ID 142 ROLL_DEG 40 T_TURN_SAMPINT 5

COURSE_BIAS 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3900 T_WATCHDOG 10

C_PITCH 2920 INT_PRESSURE_YINT -1.65 ROLL_MAXERRORS 1 UNCOM_BLEED 20

C_ROLL_CLIMB 2750 KALMAN_USE 2 ROLL_MIN 220 UPLOAD_DIVES_MAX -1

C_ROLL_DIVE 2300 KERMIT 0 ROLL_TIMEOUT 15 USE_BATHY 0

C_VBD 3071 MASS 51804 R_PORT_OVSHOOT 17 USE_ICE 0

DEEPGLIDER 0 MAX_BUOY 200 R_STBD_OVSHOOT 24 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 2 SEABIRD_C_I -0.0037964056 VBD_MAX 3964

DEVICE3 53 N_FILEKB 4 SEABIRD_C_J 0.00031207138 VBD_MAXERRORS 1

DEVICE4 35 N_GPS 20 SEABIRD_T_G 0.0043273787 VBD_MIN 475

DEVICE5 87 N_NOCOMM 1 SEABIRD_T_H 0.0006414231 VBD_PUMP_AD_RATE_APOGEE 3

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.3931538e-05 VBD_PUMP_AD_RATE_SURFACE 4

DIVE 376 PHONE_DEVICE 48 SEABIRD_T_J 2.340664e-06 VBD_TIMEOUT 720

D_ABORT 1040 PITCH_ADJ_DBAND 2 SIM_PITCH 0 XPDR_DEVICE 24

D_CALL 0 PITCH_ADJ_GAIN 0.02 SIM_W 0

Pre-dive calculations and measurements:

GPS1 221838,6149.091,-2619.398,36,1.2,36,-18.8 TGT_NAME SW

_CALLS 1 TGT_LATLONG 6145.370,-2622.980

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 0.92 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -58.1 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 222638,6149.113,-2619.320,13,1.5,13,-18.8 MHEAD_RNG_PITCHd_Wd 207.6,7638,-14.9,-10.000

SPEED_LIMITS 0.173,0.295 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.1,1.012391 _24V_AH 19.2,116.604

SM_CCo 15148,0.00,0.000,0,0,1379,415.05 _10V_AH 9.8,76.299

SM_GC 0.87,8.62,0.00,0.00,0.045,0.000,0.000,1433,2293,1379,-6.80,-0.20,415.05 DATA_FILE_SIZE 132945,1803

IRIDIUM_FIX 6126.23,-2615.57,150997,171748 CAP_FILE_SIZE 157786,0

TT8_MAMPS 0.027612 CFSIZE 260165632,221253632

HUMID 1874 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 8.92658 CURRENT 0.074, 84.5,1

TCM_TEMP 15.20 GPS 220608,024037,6147.100,-2619.148,33,0.8,33,-18.8

XPDR_PINGS 763

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 253 123.44 SBE_CT 1253 24 577.83

Roll_motor 145 70 197.50 SBE_O2 1347 19 491.43

VBD_pump_during_apogee 638 1419 17410.73 Optode 777 33 492.92

VBD_pump_during_surface 0 0 0.00 WL_BB2F 1695 105 3417.94

VBD_valve 0 0 0.00 WL_BBFL2VMT 0 105 0.00

Iridium_during_init 24 103 48.38 nil 0 0 0.00

Iridium_during_connect 33 160 104.31 nil 0 0 0.00

Iridium_during_xfer 256 223 1097.58

Transponder_ping 190 420 1538.21

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 17 50 8.50

TT8 3638 19 706.05

LPSleep 7208 2 154.71

TT8_Active 873 19 169.50

TT8_Sampling 3161 39 1233.19

TT8_CF8 727 45 326.48

TT8_Kalman 0 0 0.00

Analog_circuits 2287 12 268.98

GPS_charging 0 0 0.00

Compass 3160 8 247.79

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

19 end surface: CONTROL_FINISHED_OK

state 19 begin dive

23 -0.86 -194.7 0.0 0.0 0 154 0.00 0.00 -128.27 0.000 2 0.000 0.000 1436 2279 3638

157 -0.86 -194.7 3.8 -5.2 17 181 12.35 2.92 -5.47 0.000 4 0.253 0.051 2727 3703 3866

207 -0.68 -194.7 16.1 -16.6 24 215 0.28 2.75 0.00 0.000 6 0.129 0.031 2767 2286 3867

354 -0.68 -194.7 29.2 -8.3 49 361 0.00 2.83 0.00 0.000 4 0.000 0.042 2767 3708 3868

374 -0.68 -194.7 31.1 -8.5 52 382 0.00 2.72 0.00 0.000 6 0.000 0.031 2768 2305 3868

520 -0.68 -194.7 42.2 -7.6 77 527 0.00 2.78 0.00 0.000 4 0.000 0.042 2767 3703 3868

540 -0.68 -194.7 43.8 -7.3 80 548 0.00 2.67 0.00 0.000 6 0.000 0.032 2767 2324 3868

684 -0.68 -194.7 54.3 -7.7 105 691 0.00 2.75 0.00 0.000 4 0.000 0.043 2767 3704 3867

700 -0.68 -194.7 55.5 -7.3 107 707 0.00 2.65 0.00 0.000 6 0.000 0.031 2767 2341 3868

1043 -0.68 -194.7 85.9 -9.1 168 1050 0.00 2.72 0.00 0.000 4 0.000 0.044 2767 3707 3869

1058 -0.68 -194.7 87.2 -8.5 170 1066 0.00 2.62 0.00 0.000 6 0.000 0.031 2767 2352 3869

1407 -0.68 -194.7 115.8 -8.0 231 1413 0.00 2.70 0.00 0.000 4 0.000 0.044 2767 3703 3869

1449 -0.73 -194.7 119.3 -8.2 238 1457 0.00 2.62 0.00 0.000 6 0.000 0.032 2767 2352 3869

1796 -0.73 -194.7 147.9 -8.3 299 1803 0.00 2.72 0.00 0.000 4 0.000 0.044 2768 3712 3869

1816 -0.73 -194.7 149.8 -8.9 302 1824 0.00 2.62 0.00 0.000 6 0.000 0.032 2767 2362 3869

2163 -0.73 -194.7 181.5 -9.3 363 2170 0.00 2.70 0.00 0.000 4 0.000 0.044 2767 3709 3868

2183 -0.78 -194.7 183.4 -8.8 366 2191 0.00 2.62 0.00 0.000 6 0.000 0.032 2767 2362 3869

2530 -0.78 -194.7 213.7 -9.4 427 2537 0.00 2.70 0.00 0.000 4 0.000 0.045 2767 3703 3869

2544 -0.78 -194.7 215.1 -9.2 429 2551 0.00 2.60 0.00 0.000 6 0.000 0.032 2768 2368 3868

2890 -0.78 -194.7 249.6 -10.3 490 2897 0.00 2.70 0.00 0.000 4 0.000 0.046 2767 3708 3868

2911 -0.82 -194.7 251.7 -10.5 493 2918 0.15 2.60 0.00 0.000 6 0.063 0.033 2739 2374 3868

3257 -0.82 -194.7 294.2 -11.2 554 3264 0.00 0.00 0.00 0.000 6 0.000 0.000 2738 2373 3869

3603 -0.82 -194.7 335.1 -11.9 615 3610 0.00 2.67 0.00 0.000 4 0.000 0.046 2739 3703 3868

3622 -0.82 -194.7 337.4 -11.2 618 3630 0.00 2.58 0.00 0.000 6 0.000 0.032 2739 2380 3868

3955 -0.82 -194.7 377.0 -12.0 658 3960 0.00 2.67 0.00 0.000 4 0.000 0.046 2739 3710 3868

3976 -0.82 -194.7 379.7 -12.0 659 3984 0.00 2.58 0.00 0.000 6 0.000 0.034 2739 2391 3868

4304 -0.82 -194.7 417.1 -11.6 690 4312 0.00 0.00 0.00 0.000 6 0.000 0.000 2739 2390 3868

4630 -0.82 -194.7 453.8 -11.2 721 4631 0.00 0.00 0.00 0.000 6 0.000 0.000 2739 2390 3868

4949 -0.82 -194.7 488.3 -10.5 751 4950 0.00 0.00 0.00 0.000 6 0.000 0.000 2739 2390 3868

5269 -0.82 -194.7 520.7 -9.7 781 5276 0.00 0.00 0.00 0.000 6 0.000 0.000 2739 2390 3867

5595 -0.82 -194.7 554.2 -10.6 812 5596 0.00 0.00 0.00 0.000 6 0.000 0.000 2739 2390 3867

5913 -0.82 -194.7 587.8 -10.8 842 5917 0.00 2.67 0.00 0.000 4 0.000 0.051 2739 3700 3867

5931 -0.82 -194.7 589.6 -10.7 843 5935 0.00 2.58 0.00 0.000 6 0.000 0.035 2739 2391 3867

6261 -0.82 -194.7 626.5 -11.2 863 6262 0.00 0.00 0.00 0.000 6 0.000 0.000 2738 2390 3867

6569 -0.82 -194.7 660.5 -10.8 878 6570 0.00 0.00 0.00 0.000 6 0.000 0.000 2739 2389 3866

6879 -0.82 -194.7 693.1 -10.6 893 6880 0.00 0.00 0.00 0.000 6 0.000 0.000 2739 2389 3866

7188 -0.82 -194.7 726.4 -10.8 908 7193 0.00 3.15 0.00 0.000 4 0.000 0.069 2739 897 3866

7215 -0.82 -194.7 729.6 -11.0 909 7220 0.00 3.00 0.00 0.000 6 0.000 0.044 2739 2379 3866

7531 -1.10 -194.7 742.6 0.0 924 7537 0.30 2.80 0.00 0.000 4 0.061 0.071 2679 3700 3865

7551 -1.37 -194.7 742.6 0.0 925 7557 0.30 2.67 0.00 0.000 6 0.058 0.051 2621 2395 3865

7670 end dive: NO_VERTICAL_VELOCITY

state 7670 begin apogee

7678 -0.21 0.0 742.6 0.0 931 7885 1.40 0.00 202.75 1.420 6 0.082 0.000 2871 2745 3071

7885 end apogee: CONTROL_FINISHED_OK

state 7885 begin climb

7888 0.86 194.7 742.4 0.0 941 8098 1.35 0.00 205.35 1.364 6 0.077 0.000 3100 2745 2277

8408 0.73 194.7 694.8 11.3 967 8409 0.00 0.00 0.00 0.000 6 0.000 0.000 3100 2745 2275

8714 0.61 194.7 660.2 10.8 982 8716 0.30 0.00 0.00 0.000 6 0.114 0.000 3053 2745 2274

9024 0.71 278.5 637.9 7.1 997 9116 0.00 3.03 84.93 1.333 4 0.000 0.050 3053 1344 1934

9161 0.80 304.8 627.0 9.1 1003 9198 0.20 2.88 28.25 1.259 6 0.049 0.035 3093 2762 1828

9517 0.80 304.8 586.7 11.2 1025 9521 0.00 2.30 0.00 0.000 4 0.000 0.055 3093 3903 1823

9562 0.80 304.8 581.3 12.4 1028 9569 0.00 2.28 0.00 0.000 6 0.000 0.032 3093 2747 1822

9890 0.80 304.8 543.9 11.6 1059 9894 0.00 2.80 0.00 0.000 4 0.000 0.047 3093 1343 1821

9941 0.80 304.8 537.5 11.4 1063 9946 0.00 2.78 0.00 0.000 6 0.000 0.032 3093 2762 1820

10267 0.80 304.8 501.4 11.0 1093 10269 0.00 0.00 0.00 0.000 6 0.000 0.000 3093 2763 1820

10585 0.80 304.8 467.9 10.5 1123 10586 0.00 0.00 0.00 0.000 6 0.000 0.000 3093 2762 1820

10904 0.80 304.8 435.3 10.0 1153 10908 0.00 2.88 0.00 0.000 4 0.000 0.044 3093 1333 1820

10948 0.80 306.2 430.7 9.9 1156 10955 0.00 2.75 0.00 0.000 6 0.000 0.031 3093 2747 1819

11277 0.80 306.8 397.9 10.0 1187 11281 0.00 2.28 0.00 0.000 4 0.000 0.049 3093 3894 1819

11308 0.80 306.8 394.6 10.6 1189 11312 0.00 2.25 0.00 0.000 6 0.000 0.031 3093 2724 1818

11635 0.82 325.8 364.2 9.3 1219 11663 0.00 2.80 21.23 1.107 4 0.000 0.045 3093 1349 1742

11706 0.83 333.9 357.3 9.7 1225 11722 0.00 2.72 10.00 1.046 6 0.000 0.031 3093 2739 1708

12058 0.85 349.1 324.8 9.5 1280 12079 0.00 0.00 16.85 1.081 6 0.000 0.000 3093 2739 1647

12418 0.86 358.4 289.5 9.7 1343 12438 0.00 2.85 10.85 0.996 4 0.000 0.044 3093 1350 1608

12468 0.87 363.6 284.5 9.8 1351 12483 0.00 2.70 7.15 0.915 6 0.000 0.030 3093 2731 1587

12822 0.93 411.9 251.8 8.3 1413 12877 0.15 0.00 51.38 1.099 6 0.053 0.000 3130 2732 1391

13220 0.93 411.9 206.5 11.9 1481 13227 0.00 2.80 0.00 0.000 4 0.000 0.044 3130 1340 1384

13284 0.93 411.9 197.9 11.8 1492 13291 0.00 2.67 0.00 0.000 6 0.000 0.031 3130 2714 1383

13630 0.93 411.9 158.8 11.7 1553 13636 0.00 0.00 0.00 0.000 6 0.000 0.000 3130 2713 1382

13975 0.93 411.9 123.2 10.4 1614 13983 0.00 2.75 0.00 0.000 4 0.000 0.045 3130 1346 1382

14014 0.93 411.9 119.1 10.6 1620 14021 0.00 2.65 0.00 0.000 6 0.000 0.031 3130 2711 1381

14359 0.93 411.9 81.0 10.7 1681 14366 0.00 2.35 0.00 0.000 4 0.000 0.048 3130 3895 1381

14390 0.93 411.9 77.1 12.6 1686 14398 0.00 2.33 0.00 0.000 6 0.000 0.032 3130 2704 1381

14739 0.93 411.9 37.4 10.7 1747 14747 0.00 2.70 0.00 0.000 4 0.000 0.046 3130 1343 1380

14810 0.93 411.9 28.8 11.5 1759 14818 0.00 2.62 0.00 0.000 6 0.000 0.031 3130 2704 1380

14956 0.93 411.9 12.6 10.3 1784 14963 0.00 2.35 0.00 0.000 4 0.000 0.048 3130 3895 1380

14988 0.93 411.9 8.9 11.5 1789 14995 0.00 2.38 0.00 0.000 6 0.000 0.031 3130 2657 1380

15050 end climb: SURFACE_DEPTH_REACHED

state 15050 begin surface coast

15068 end surface coast: CONTROL_FINISHED_OK

state 15068 begin surface

ID	142	HD_C	9.9999997e-06	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0
MISSION	5	HEADING	-1	PITCH_ADJ_GAIN	0.02	ALTIM_BOTTOM_TURN_MARGIN	0
DIVE	376	ESCAPE_HEADING	0	PITCH_ADJ_DBAND	2	ALTIM_TOP_TURN_MARGIN	0
D_SURF	2	ESCAPE_HEADING_DELTA	10	ROLL_MIN	220	ALTIM_TOP_MIN_OBSTACLE	1
D_FLARE	3	FIX_MISSING_TIMEOUT	0	ROLL_MAX	3900	ALTIM_PING_DEPTH	0
D_TGT	990	TGT_DEFAULT_LAT	5900	ROLL_DEG	40	ALTIM_PING_DELTA	0
D_ABORT	1040	TGT_DEFAULT_LON	-2030	C_ROLL_DIVE	2300	ALTIM_FREQUENCY	13
D_NO_BLEED	350	TGT_AUTO_DEFAULT	0	C_ROLL_CLIMB	2750	ALTIM_PULSE	3
D_FINISH	0	SM_CC	200	HEAD_ERRBAND	15	ALTIM_SENSITIVITY	3
D_PITCH	0	N_FILEKB	4	ROLL_CNV	0.028270001	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	FILEMGR	0	ROLL_TIMEOUT	15	INT_PRESSURE_YINT	-1.65
D_CALL	0	CALL_NDIVES	1	R_PORT_OVSHOOT	17	DEEPGLIDER	0
SURFACE_URGENCY	0	COMM_SEQ	0	R_STBD_OVSHOOT	24	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	KERMIT	0	ROLL_AD_RATE	250	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	N_NOCOMM	1	ROLL_MAXERRORS	1	DEVICE1	2
T_DIVE	330	N_NOSURFACE	0	ROLL_ADJ_GAIN	3	DEVICE2	20
T_MISSION	360	UPLOAD_DIVES_MAX	-1	ROLL_ADJ_DBAND	0.029999999	DEVICE3	53
T_ABORT	720	CALL_TRIES	5	VBD_MIN	475	DEVICE4	35
T_TURN	225	CALL_WAIT	60	VBD_MAX	3964	DEVICE5	87
T_TURN_SAMPINT	5	CAPUPLOAD	0	C_VBD	3071	DEVICE6	-1
T_NO_W	240	CAPMAXSIZE	100000	VBD_DBAND	2	SMARTS	0
USE_BATHY	0	HEAPDBG	0	VBD_CNV	-0.24529999	SMARTDEVICE1	-1
USE_ICE	0	T_GPS	15	VBD_TIMEOUT	720	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.30000001	N_GPS	20	PITCH_VBD_SHIFT	0.0012300001	COMPASS_DEVICE	33
D_OFFGRID	100	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_SURFACE	4	PHONE_DEVICE	48
T_WATCHDOG	10	T_GPS_CHARGE	-20036.857	VBD_PUMP_AD_RATE_APOGEE	3	GPS_DEVICE	32
RELAUNCH	1	T_RSLEEP	3	VBD_BLEED_AD_RATE	8	RAFOS_DEVICE	-1
APOGEE_PITCH	-5	RAFOS_PEAK_OFFSET	1.5	UNCOM_BLEED	20	XPDR_DEVICE	24
MAX_BUOY	200	RAFOS_CORR_THRESH	60	VBD_MAXERRORS	1	SIM_W	0
COURSE_BIAS	0	RAFOS_HIT_WINDOW	3600	CF8_MAXERRORS	20	SIM_PITCH	0
GLIDE_SLOPE	30	PITCH_MIN	1435	AH0_24V	150	SEABIRD_T_G	0.0043273787
SPEED_FACTOR	1	PITCH_MAX	3965	AH0_10V	100	SEABIRD_T_H	0.0006414231
RHO	1.0273	C_PITCH	2920	PRESSURE_YINT	-2.876246	SEABIRD_T_I	2.3931538e-05
MASS	51804	PITCH_DBAND	0.1	PRESSURE_SLOPE	9.1518581e-05	SEABIRD_T_J	2.340664e-06
NAV_MODE	2	PITCH_CNV	0.0046000001	AD7714Ch0Gain	64	SEABIRD_C_G	-10.258962
FERRY_MAX	45	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1819305
KALMAN_USE	2	PITCH_GAIN	24	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0037964056
HD_A	0.003	PITCH_TIMEOUT	15	COMPASS_USE	0	SEABIRD_C_J	0.00031207138
HD_B	0.0099999998	PITCH_AD_RATE	100	ALTIM_BOTTOM_PING_RANGE	0

GPS1	221838,6149.091,-2619.398,36,1.2,36,-18.8	TGT_NAME	SW
_CALLS	1	TGT_LATLONG	6145.370,-2622.980
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	0.92	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-58.1	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	222638,6149.113,-2619.320,13,1.5,13,-18.8	MHEAD_RNG_PITCHd_Wd	207.6,7638,-14.9,-10.000
SPEED_LIMITS	0.173,0.295	D_GRID	990

FINISH	0.1,1.012391	_24V_AH	19.2,116.604
SM_CCo	15148,0.00,0.000,0,0,1379,415.05	_10V_AH	9.8,76.299
SM_GC	0.87,8.62,0.00,0.00,0.045,0.000,0.000,1433,2293,1379,-6.80,-0.20,415.05	DATA_FILE_SIZE	132945,1803
IRIDIUM_FIX	6126.23,-2615.57,150997,171748	CAP_FILE_SIZE	157786,0
TT8_MAMPS	0.027612	CFSIZE	260165632,221253632
HUMID	1874	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	8.92658	CURRENT	0.074, 84.5,1
TCM_TEMP	15.20	GPS	220608,024037,6147.100,-2619.148,33,0.8,33,-18.8
XPDR_PINGS	763

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	253	123.44	SBE_CT	1253	24	577.83
Roll_motor	145	70	197.50	SBE_O2	1347	19	491.43
VBD_pump_during_apogee	638	1419	17410.73	Optode	777	33	492.92
VBD_pump_during_surface	0	0	0.00	WL_BB2F	1695	105	3417.94
VBD_valve	0	0	0.00	WL_BBFL2VMT	0	105	0.00
Iridium_during_init	24	103	48.38	nil	0	0	0.00
Iridium_during_connect	33	160	104.31	nil	0	0	0.00
Iridium_during_xfer	256	223	1097.58
Transponder_ping	190	420	1538.21
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	17	50	8.50
TT8	3638	19	706.05
LPSleep	7208	2	154.71
TT8_Active	873	19	169.50
TT8_Sampling	3161	39	1233.19
TT8_CF8	727	45	326.48
TT8_Kalman	0	0	0.00
Analog_circuits	2287	12	268.98
GPS_charging	0	0	0.00
Compass	3160	8	247.79
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
19	end surface: CONTROL_FINISHED_OK
state	19	begin dive
23	-0.86	-194.7	0.0	0.0	0	154	0.00	0.00	-128.27	0.000	2	0.000	0.000	1436	2279	3638
157	-0.86	-194.7	3.8	-5.2	17	181	12.35	2.92	-5.47	0.000	4	0.253	0.051	2727	3703	3866
207	-0.68	-194.7	16.1	-16.6	24	215	0.28	2.75	0.00	0.000	6	0.129	0.031	2767	2286	3867
354	-0.68	-194.7	29.2	-8.3	49	361	0.00	2.83	0.00	0.000	4	0.000	0.042	2767	3708	3868
374	-0.68	-194.7	31.1	-8.5	52	382	0.00	2.72	0.00	0.000	6	0.000	0.031	2768	2305	3868
520	-0.68	-194.7	42.2	-7.6	77	527	0.00	2.78	0.00	0.000	4	0.000	0.042	2767	3703	3868
540	-0.68	-194.7	43.8	-7.3	80	548	0.00	2.67	0.00	0.000	6	0.000	0.032	2767	2324	3868
684	-0.68	-194.7	54.3	-7.7	105	691	0.00	2.75	0.00	0.000	4	0.000	0.043	2767	3704	3867
700	-0.68	-194.7	55.5	-7.3	107	707	0.00	2.65	0.00	0.000	6	0.000	0.031	2767	2341	3868
1043	-0.68	-194.7	85.9	-9.1	168	1050	0.00	2.72	0.00	0.000	4	0.000	0.044	2767	3707	3869
1058	-0.68	-194.7	87.2	-8.5	170	1066	0.00	2.62	0.00	0.000	6	0.000	0.031	2767	2352	3869
1407	-0.68	-194.7	115.8	-8.0	231	1413	0.00	2.70	0.00	0.000	4	0.000	0.044	2767	3703	3869
1449	-0.73	-194.7	119.3	-8.2	238	1457	0.00	2.62	0.00	0.000	6	0.000	0.032	2767	2352	3869
1796	-0.73	-194.7	147.9	-8.3	299	1803	0.00	2.72	0.00	0.000	4	0.000	0.044	2768	3712	3869
1816	-0.73	-194.7	149.8	-8.9	302	1824	0.00	2.62	0.00	0.000	6	0.000	0.032	2767	2362	3869
2163	-0.73	-194.7	181.5	-9.3	363	2170	0.00	2.70	0.00	0.000	4	0.000	0.044	2767	3709	3868
2183	-0.78	-194.7	183.4	-8.8	366	2191	0.00	2.62	0.00	0.000	6	0.000	0.032	2767	2362	3869
2530	-0.78	-194.7	213.7	-9.4	427	2537	0.00	2.70	0.00	0.000	4	0.000	0.045	2767	3703	3869
2544	-0.78	-194.7	215.1	-9.2	429	2551	0.00	2.60	0.00	0.000	6	0.000	0.032	2768	2368	3868
2890	-0.78	-194.7	249.6	-10.3	490	2897	0.00	2.70	0.00	0.000	4	0.000	0.046	2767	3708	3868
2911	-0.82	-194.7	251.7	-10.5	493	2918	0.15	2.60	0.00	0.000	6	0.063	0.033	2739	2374	3868
3257	-0.82	-194.7	294.2	-11.2	554	3264	0.00	0.00	0.00	0.000	6	0.000	0.000	2738	2373	3869
3603	-0.82	-194.7	335.1	-11.9	615	3610	0.00	2.67	0.00	0.000	4	0.000	0.046	2739	3703	3868
3622	-0.82	-194.7	337.4	-11.2	618	3630	0.00	2.58	0.00	0.000	6	0.000	0.032	2739	2380	3868
3955	-0.82	-194.7	377.0	-12.0	658	3960	0.00	2.67	0.00	0.000	4	0.000	0.046	2739	3710	3868
3976	-0.82	-194.7	379.7	-12.0	659	3984	0.00	2.58	0.00	0.000	6	0.000	0.034	2739	2391	3868
4304	-0.82	-194.7	417.1	-11.6	690	4312	0.00	0.00	0.00	0.000	6	0.000	0.000	2739	2390	3868
4630	-0.82	-194.7	453.8	-11.2	721	4631	0.00	0.00	0.00	0.000	6	0.000	0.000	2739	2390	3868
4949	-0.82	-194.7	488.3	-10.5	751	4950	0.00	0.00	0.00	0.000	6	0.000	0.000	2739	2390	3868
5269	-0.82	-194.7	520.7	-9.7	781	5276	0.00	0.00	0.00	0.000	6	0.000	0.000	2739	2390	3867
5595	-0.82	-194.7	554.2	-10.6	812	5596	0.00	0.00	0.00	0.000	6	0.000	0.000	2739	2390	3867
5913	-0.82	-194.7	587.8	-10.8	842	5917	0.00	2.67	0.00	0.000	4	0.000	0.051	2739	3700	3867
5931	-0.82	-194.7	589.6	-10.7	843	5935	0.00	2.58	0.00	0.000	6	0.000	0.035	2739	2391	3867
6261	-0.82	-194.7	626.5	-11.2	863	6262	0.00	0.00	0.00	0.000	6	0.000	0.000	2738	2390	3867
6569	-0.82	-194.7	660.5	-10.8	878	6570	0.00	0.00	0.00	0.000	6	0.000	0.000	2739	2389	3866
6879	-0.82	-194.7	693.1	-10.6	893	6880	0.00	0.00	0.00	0.000	6	0.000	0.000	2739	2389	3866
7188	-0.82	-194.7	726.4	-10.8	908	7193	0.00	3.15	0.00	0.000	4	0.000	0.069	2739	897	3866
7215	-0.82	-194.7	729.6	-11.0	909	7220	0.00	3.00	0.00	0.000	6	0.000	0.044	2739	2379	3866
7531	-1.10	-194.7	742.6	0.0	924	7537	0.30	2.80	0.00	0.000	4	0.061	0.071	2679	3700	3865
7551	-1.37	-194.7	742.6	0.0	925	7557	0.30	2.67	0.00	0.000	6	0.058	0.051	2621	2395	3865
7670	end dive: NO_VERTICAL_VELOCITY
state	7670	begin apogee
7678	-0.21	0.0	742.6	0.0	931	7885	1.40	0.00	202.75	1.420	6	0.082	0.000	2871	2745	3071
7885	end apogee: CONTROL_FINISHED_OK
state	7885	begin climb
7888	0.86	194.7	742.4	0.0	941	8098	1.35	0.00	205.35	1.364	6	0.077	0.000	3100	2745	2277
8408	0.73	194.7	694.8	11.3	967	8409	0.00	0.00	0.00	0.000	6	0.000	0.000	3100	2745	2275
8714	0.61	194.7	660.2	10.8	982	8716	0.30	0.00	0.00	0.000	6	0.114	0.000	3053	2745	2274
9024	0.71	278.5	637.9	7.1	997	9116	0.00	3.03	84.93	1.333	4	0.000	0.050	3053	1344	1934
9161	0.80	304.8	627.0	9.1	1003	9198	0.20	2.88	28.25	1.259	6	0.049	0.035	3093	2762	1828
9517	0.80	304.8	586.7	11.2	1025	9521	0.00	2.30	0.00	0.000	4	0.000	0.055	3093	3903	1823
9562	0.80	304.8	581.3	12.4	1028	9569	0.00	2.28	0.00	0.000	6	0.000	0.032	3093	2747	1822
9890	0.80	304.8	543.9	11.6	1059	9894	0.00	2.80	0.00	0.000	4	0.000	0.047	3093	1343	1821
9941	0.80	304.8	537.5	11.4	1063	9946	0.00	2.78	0.00	0.000	6	0.000	0.032	3093	2762	1820
10267	0.80	304.8	501.4	11.0	1093	10269	0.00	0.00	0.00	0.000	6	0.000	0.000	3093	2763	1820
10585	0.80	304.8	467.9	10.5	1123	10586	0.00	0.00	0.00	0.000	6	0.000	0.000	3093	2762	1820
10904	0.80	304.8	435.3	10.0	1153	10908	0.00	2.88	0.00	0.000	4	0.000	0.044	3093	1333	1820
10948	0.80	306.2	430.7	9.9	1156	10955	0.00	2.75	0.00	0.000	6	0.000	0.031	3093	2747	1819
11277	0.80	306.8	397.9	10.0	1187	11281	0.00	2.28	0.00	0.000	4	0.000	0.049	3093	3894	1819
11308	0.80	306.8	394.6	10.6	1189	11312	0.00	2.25	0.00	0.000	6	0.000	0.031	3093	2724	1818
11635	0.82	325.8	364.2	9.3	1219	11663	0.00	2.80	21.23	1.107	4	0.000	0.045	3093	1349	1742
11706	0.83	333.9	357.3	9.7	1225	11722	0.00	2.72	10.00	1.046	6	0.000	0.031	3093	2739	1708
12058	0.85	349.1	324.8	9.5	1280	12079	0.00	0.00	16.85	1.081	6	0.000	0.000	3093	2739	1647
12418	0.86	358.4	289.5	9.7	1343	12438	0.00	2.85	10.85	0.996	4	0.000	0.044	3093	1350	1608
12468	0.87	363.6	284.5	9.8	1351	12483	0.00	2.70	7.15	0.915	6	0.000	0.030	3093	2731	1587
12822	0.93	411.9	251.8	8.3	1413	12877	0.15	0.00	51.38	1.099	6	0.053	0.000	3130	2732	1391
13220	0.93	411.9	206.5	11.9	1481	13227	0.00	2.80	0.00	0.000	4	0.000	0.044	3130	1340	1384
13284	0.93	411.9	197.9	11.8	1492	13291	0.00	2.67	0.00	0.000	6	0.000	0.031	3130	2714	1383
13630	0.93	411.9	158.8	11.7	1553	13636	0.00	0.00	0.00	0.000	6	0.000	0.000	3130	2713	1382
13975	0.93	411.9	123.2	10.4	1614	13983	0.00	2.75	0.00	0.000	4	0.000	0.045	3130	1346	1382
14014	0.93	411.9	119.1	10.6	1620	14021	0.00	2.65	0.00	0.000	6	0.000	0.031	3130	2711	1381
14359	0.93	411.9	81.0	10.7	1681	14366	0.00	2.35	0.00	0.000	4	0.000	0.048	3130	3895	1381
14390	0.93	411.9	77.1	12.6	1686	14398	0.00	2.33	0.00	0.000	6	0.000	0.032	3130	2704	1381
14739	0.93	411.9	37.4	10.7	1747	14747	0.00	2.70	0.00	0.000	4	0.000	0.046	3130	1343	1380
14810	0.93	411.9	28.8	11.5	1759	14818	0.00	2.62	0.00	0.000	6	0.000	0.031	3130	2704	1380
14956	0.93	411.9	12.6	10.3	1784	14963	0.00	2.35	0.00	0.000	4	0.000	0.048	3130	3895	1380
14988	0.93	411.9	8.9	11.5	1789	14995	0.00	2.38	0.00	0.000	6	0.000	0.031	3130	2657	1380
15050	end climb: SURFACE_DEPTH_REACHED
state	15050	begin surface coast
15068	end surface coast: CONTROL_FINISHED_OK
state	15068	begin surface