Glider dive log

NAB Apr08 * SG143 * Dive index * Mission links * Dive 66 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 143 HD_C 9.8541004e-06 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0

MISSION 4 HEADING 290 PITCH_ADJ_GAIN 0.02 ALTIM_BOTTOM_TURN_MARGIN 0

DIVE 66 ESCAPE_HEADING 0 PITCH_ADJ_DBAND 2 ALTIM_TOP_TURN_MARGIN 0

D_SURF 2 ESCAPE_HEADING_DELTA 10 ROLL_MIN 182 ALTIM_TOP_MIN_OBSTACLE 0

D_FLARE 3 FIX_MISSING_TIMEOUT 0 ROLL_MAX 3816 ALTIM_PING_DEPTH 0

D_TGT 990 TGT_DEFAULT_LAT -2030 ROLL_DEG 40 ALTIM_PING_DELTA 0

D_ABORT 1040 TGT_DEFAULT_LON 5900 C_ROLL_DIVE 2295 ALTIM_FREQUENCY 13

D_NO_BLEED 350 TGT_AUTO_DEFAULT 0 C_ROLL_CLIMB 2050 ALTIM_PULSE 3

D_FINISH 0 SM_CC 200 HEAD_ERRBAND 15 ALTIM_SENSITIVITY 3

D_PITCH 0 N_FILEKB 8 ROLL_CNV 0.028270001 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 FILEMGR 0 ROLL_TIMEOUT 15 INT_PRESSURE_YINT 0

D_CALL 0 CALL_NDIVES 1 R_PORT_OVSHOOT 16 DEEPGLIDER 0

SURFACE_URGENCY 0 COMM_SEQ 0 R_STBD_OVSHOOT 26 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 490 DEVICE4 35

T_TURN 270 CALL_WAIT 60 VBD_MAX 3964 DEVICE5 87

T_TURN_SAMPINT 5 CAPUPLOAD 0 C_VBD 3071 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 4 PHONE_DEVICE 48

T_WATCHDOG 10 T_GPS_CHARGE -5284.7075 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 1469 AH0_24V 150 SEABIRD_T_G 0.0043273759

SPEED_FACTOR 1 PITCH_MAX 4022 AH0_10V 100 SEABIRD_T_H 0.00064184016

RHO 1.0273 C_PITCH 2800 PRESSURE_YINT -13.47135 SEABIRD_T_I 2.4188148e-05

MASS 51457 PITCH_DBAND 0.1 PRESSURE_SLOPE 9.1530041e-05 SEABIRD_T_J 2.4070987e-06

NAV_MODE 2 PITCH_CNV 0.0046000001 AD7714Ch0Gain 64 SEABIRD_C_G -10.197048

FERRY_MAX 45 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1695373

KALMAN_USE 2 PITCH_GAIN 27 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0015330453

HD_A 0.0038360001 PITCH_TIMEOUT 15 COMPASS_USE 0 SEABIRD_C_J 0.00015523176

HD_B 0.010078 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 27 SM_CC 200

ALTIM_BOTTOM_TURN_MARGIN 0 D_PITCH 0 PITCH_MAX 4022 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 0 D_SURF 2 PITCH_MIN 1469 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 9.1530041e-05 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 0 FERRY_MAX 45 PRESSURE_YINT -13.47135 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LAT -2030

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 RAFOS_CORR_THRESH 60 TGT_DEFAULT_LON 5900

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 0.0038360001 RAFOS_PEAK_OFFSET 1.5 T_GPS 15

CALL_WAIT 60 HD_B 0.010078 RELAUNCH 1 T_GPS_ALMANAC 0

CAPMAXSIZE 100000 HD_C 9.8541004e-06 RHO 1.0273 T_GPS_CHARGE -5284.7075

CAPUPLOAD 0 HEADING 290 ROLL_ADJ_DBAND 0.029999999 T_MISSION 360

CF8_MAXERRORS 20 HEAD_ERRBAND 15 ROLL_ADJ_GAIN 3 T_NO_W 120

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 270

COMPASS_USE 0 ID 143 ROLL_DEG 40 T_TURN_SAMPINT 5

COURSE_BIAS 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3816 T_WATCHDOG 10

C_PITCH 2800 INT_PRESSURE_YINT 0 ROLL_MAXERRORS 1 UNCOM_BLEED 20

C_ROLL_CLIMB 2050 KALMAN_USE 2 ROLL_MIN 182 UPLOAD_DIVES_MAX -1

C_ROLL_DIVE 2295 KERMIT 0 ROLL_TIMEOUT 15 USE_BATHY 0

C_VBD 3071 MASS 51457 R_PORT_OVSHOOT 16 USE_ICE 0

DEEPGLIDER 0 MAX_BUOY 200 R_STBD_OVSHOOT 26 VBD_BLEED_AD_RATE 8

DEEPGLIDERMB 0 MISSION 4 SEABIRD_C_G -10.197048 VBD_CNV -0.24529999

DEVICE1 2 MOTHERBOARD 4 SEABIRD_C_H 1.1695373 VBD_DBAND 2

DEVICE2 20 NAV_MODE 2 SEABIRD_C_I -0.0015330453 VBD_MAX 3964

DEVICE3 53 N_FILEKB 8 SEABIRD_C_J 0.00015523176 VBD_MAXERRORS 1

DEVICE4 35 N_GPS 20 SEABIRD_T_G 0.0043273759 VBD_MIN 490

DEVICE5 87 N_NOCOMM 1 SEABIRD_T_H 0.00064184016 VBD_PUMP_AD_RATE_APOGEE 3

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.4188148e-05 VBD_PUMP_AD_RATE_SURFACE 4

DIVE 66 PHONE_DEVICE 48 SEABIRD_T_J 2.4070987e-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 070708,5932.907,-2231.836,40,1.8,40,-15.5 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG 5936.626,-2237.050

_XMS_NAKs 3 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 0.37 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -40.1 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 071433,5932.933,-2231.916,11,1.6,11,-15.5 MHEAD_RNG_PITCHd_Wd 318.5,20000,-15.7,-10.000

SPEED_LIMITS 0.173,0.296 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.0,1.027289 _24V_AH 19.6,29.913

SM_CCo 17358,0.00,0.000,0,0,1151,470.98 _10V_AH 9.7,20.512

SM_GC 0.47,7.68,0.00,0.00,0.043,0.000,0.000,1465,2312,1151,-6.10,0.48,470.98 DATA_FILE_SIZE 180510,2399

IRIDIUM_FIX 5911.23,-2226.74,120797,020259 CAP_FILE_SIZE 188051,0

TT8_MAMPS 0.021476 CFSIZE 260165632,250277888

HUMID 1637 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 8.15461 CURRENT 0.034,272.2,1

TCM_TEMP 12.30 GPS 170408,120526,5934.011,-2237.708,39,1.2,39,-15.6

XPDR_PINGS 338

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 22 250 112.08 SBE_CT 1746 24 821.34

Roll_motor 122 72 174.66 SBE_O2 1731 19 644.64

VBD_pump_during_apogee 685 1462 19652.13 Optode 972 33 629.17

VBD_pump_during_surface 0 0 0.00 WL_BB2F 945 105 1945.62

VBD_valve 0 0 0.00 WL_BBFL2VMT 2459 105 5060.96

Iridium_during_init 29 103 60.17 nil 0 0 0.00

Iridium_during_connect 32 160 101.21 nil 0 0 0.00

Iridium_during_xfer 265 223 1161.34

Transponder_ping 84 420 695.60

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 12 50 6.07

TT8 4770 19 916.22

LPSleep 6366 2 135.24

TT8_Active 844 19 162.23

TT8_Sampling 5212 39 2012.32

TT8_CF8 587 45 260.83

TT8_Kalman 0 0 0.00

Analog_circuits 2719 12 316.61

GPS_charging 0 0 0.00

Compass 5221 8 405.22

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

22 end surface: CONTROL_FINISHED_OK

state 22 begin dive

24 -0.82 -194.7 0.0 0.0 0 152 0.00 0.00 -124.72 0.000 2 0.000 0.000 1471 2320 3689

154 -0.82 -194.7 3.3 -5.6 13 174 9.80 2.95 -3.83 0.000 4 0.251 0.064 2608 884 3868

398 -0.72 -194.7 54.3 -16.0 54 407 0.12 2.83 0.00 0.000 6 0.158 0.051 2634 2288 3869

611 -0.62 -194.7 87.9 -15.0 91 618 0.17 0.00 0.00 0.000 6 0.150 0.000 2662 2288 3869

821 -0.62 -194.7 114.0 -11.4 128 829 0.00 0.00 0.00 0.000 6 0.000 0.000 2662 2288 3869

1034 -0.62 -194.7 141.5 -14.6 165 1041 0.00 0.00 0.00 0.000 6 0.000 0.000 2662 2288 3869

1245 -0.62 -194.7 170.0 -13.4 202 1254 0.00 2.80 0.00 0.000 4 0.000 0.053 2656 881 3869

1292 -0.62 -194.7 175.8 -12.6 209 1299 0.00 2.75 0.00 0.000 6 0.000 0.042 2661 2304 3869

1635 -0.62 -194.7 221.8 -13.2 270 1644 0.00 0.00 0.00 0.000 6 0.000 0.000 2661 2304 3869

1982 -0.62 -194.7 266.7 -13.1 331 1989 0.00 0.00 0.00 0.000 6 0.000 0.000 2661 2304 3869

2326 -0.62 -194.7 311.3 -13.0 392 2335 0.00 0.00 0.00 0.000 6 0.000 0.000 2661 2305 3869

2670 -0.62 -194.7 356.8 -13.7 453 2678 0.00 2.78 0.00 0.000 4 0.000 0.054 2656 881 3869

2719 -0.62 -194.7 363.3 -13.3 461 2727 0.00 2.70 0.00 0.000 6 0.000 0.041 2659 2291 3869

3059 -0.62 -194.7 409.3 -13.8 522 3067 0.00 0.00 0.00 0.000 6 0.000 0.000 2659 2290 3869

3403 -0.62 -194.7 452.7 -12.1 583 3409 0.00 0.00 0.00 0.000 6 0.000 0.000 2659 2291 3869

3744 -0.62 -194.7 494.5 -12.1 644 3751 0.00 2.78 0.00 0.000 4 0.000 0.054 2656 877 3869

3791 -0.62 -194.7 500.1 -12.1 652 3798 0.00 2.67 0.00 0.000 6 0.000 0.041 2657 2286 3869

4130 -0.62 -194.7 542.2 -12.0 713 4137 0.00 0.00 0.00 0.000 6 0.000 0.000 2657 2286 3869

4470 -0.62 -194.7 581.5 -11.1 774 4478 0.00 0.00 0.00 0.000 6 0.000 0.000 2657 2286 3869

4805 -0.62 -194.7 620.5 -11.7 819 4806 0.00 0.00 0.00 0.000 6 0.000 0.000 2657 2286 3869

5125 -0.62 -194.7 657.4 -11.9 849 5129 0.00 2.83 0.00 0.000 4 0.000 0.066 2656 881 3869

5164 -0.66 -194.7 662.2 -11.8 852 5168 0.00 2.70 0.00 0.000 6 0.000 0.047 2656 2279 3869

5488 -0.66 -194.7 699.2 -11.4 882 5490 0.00 0.00 0.00 0.000 6 0.000 0.000 2656 2279 3869

5808 -0.66 -194.7 736.9 -11.3 912 5809 0.00 0.00 0.00 0.000 6 0.000 0.000 2656 2282 3868

6125 -0.66 -194.7 773.0 -11.2 942 6126 0.00 0.00 0.00 0.000 6 0.000 0.000 2656 2282 3868

6444 -0.66 -194.7 809.7 -11.6 972 6445 0.00 0.00 0.00 0.000 6 0.000 0.000 2657 2282 3868

6762 -0.66 -194.7 846.1 -11.3 1002 6763 0.00 0.00 0.00 0.000 6 0.000 0.000 2656 2283 3868

7082 -0.66 -194.7 882.1 -11.3 1032 7084 0.00 0.00 0.00 0.000 6 0.000 0.000 2656 2283 3867

7399 -0.66 -194.7 917.6 -11.1 1062 7403 0.00 2.83 0.00 0.000 4 0.000 0.070 2656 885 3867

7440 -0.72 -194.7 922.0 -11.8 1065 7444 0.00 2.70 0.00 0.000 6 0.000 0.048 2656 2276 3867

7767 -0.72 -194.7 959.3 -11.6 1095 7768 0.00 0.00 0.00 0.000 6 0.000 0.000 2656 2276 3866

8029 end dive: TARGET_DEPTH_EXCEEDED

state 8029 begin apogee

8034 -0.19 0.0 990.0 11.6 1120 8236 0.55 0.00 195.48 1.463 6 0.123 0.000 2752 2040 3071

8236 end apogee: CONTROL_FINISHED_OK

state 8236 begin climb

8238 0.82 194.7 1000.1 0.0 1140 8449 1.27 3.20 200.62 1.378 4 0.091 0.073 2973 648 2277

8532 0.68 194.7 976.0 13.4 1165 8540 0.17 2.92 0.00 0.000 6 0.140 0.044 2951 2049 2273

8857 0.56 194.7 937.3 12.0 1196 8863 0.15 2.92 0.00 0.000 4 0.138 0.059 2925 3459 2271

8946 0.52 194.7 927.6 10.2 1203 8954 0.00 2.80 0.00 0.000 6 0.000 0.052 2926 2090 2270

9272 0.48 200.9 896.3 9.8 1234 9285 0.00 0.00 6.57 1.137 6 0.000 0.000 2925 2089 2251

9603 0.45 216.1 864.7 9.5 1265 9627 0.15 3.10 16.42 1.439 4 0.126 0.072 2899 635 2190

9632 -0.03 264.5 862.1 8.3 1267 9690 0.60 2.90 49.08 1.301 6 0.103 0.044 2794 2097 1992

10005 0.33 264.5 829.1 10.1 1302 10010 0.38 2.78 0.00 0.000 4 0.067 0.057 2868 3461 1988

10316 0.71 274.2 799.2 9.7 1329 10332 0.43 2.75 10.35 1.279 6 0.064 0.050 2951 2087 1953

10657 0.86 312.3 769.9 8.7 1361 10701 0.15 0.00 39.83 1.326 6 0.056 0.000 2990 2086 1797

11017 0.71 312.3 714.1 16.7 1395 11022 0.17 2.80 0.00 0.000 4 0.138 0.056 2961 3459 1792

11057 0.65 312.3 708.1 14.6 1398 11061 0.00 2.58 0.00 0.000 6 0.000 0.051 2961 2184 1790

11381 0.56 312.3 662.4 13.8 1428 11387 0.20 3.15 0.00 0.000 4 0.133 0.069 2927 644 1790

11422 0.61 320.4 658.0 9.7 1431 11438 0.00 3.00 8.62 1.158 6 0.000 0.044 2927 2178 1763

11763 0.64 340.7 626.0 9.3 1463 11788 0.00 0.00 22.23 1.282 6 0.000 0.000 2927 2178 1682

12115 0.66 363.4 594.3 9.2 1501 12149 0.00 3.25 23.58 1.237 4 0.000 0.065 2927 646 1588

12174 0.76 384.0 588.4 9.3 1510 12205 0.20 3.03 22.38 1.106 6 0.054 0.041 2971 2178 1504

12539 0.66 384.0 530.3 17.2 1574 12547 0.15 3.17 0.00 0.000 4 0.136 0.063 2946 634 1499

12570 0.66 384.0 525.7 13.9 1579 12577 0.00 2.97 0.00 0.000 6 0.000 0.039 2949 2162 1499

12909 0.66 384.0 486.3 11.7 1640 12917 0.00 3.08 0.00 0.000 4 0.000 0.062 2945 642 1498

12933 0.66 384.0 483.3 12.0 1644 12942 0.00 2.92 0.00 0.000 6 0.000 0.040 2949 2143 1498

13275 0.66 384.0 444.1 11.3 1705 13283 0.00 3.03 0.00 0.000 4 0.000 0.062 2945 641 1498

13299 0.66 384.0 441.1 11.7 1709 13307 0.00 2.85 0.00 0.000 6 0.000 0.038 2949 2129 1498

13642 0.66 384.0 402.4 11.3 1770 13649 0.00 0.00 0.00 0.000 6 0.000 0.000 2949 2128 1498

13982 0.66 384.0 365.4 10.7 1831 13989 0.00 3.00 0.00 0.000 4 0.000 0.062 2946 633 1498

14005 0.66 384.0 362.7 11.3 1835 14013 0.00 2.83 0.00 0.000 6 0.000 0.038 2949 2120 1498

14350 0.66 384.0 327.4 10.6 1896 14359 0.00 0.00 0.00 0.000 6 0.000 0.000 2949 2120 1498

14699 0.66 384.0 290.2 10.6 1957 14706 0.00 2.95 0.00 0.000 4 0.000 0.060 2945 637 1498

14714 0.66 384.0 288.5 10.8 1959 14722 0.00 2.80 0.00 0.000 6 0.000 0.038 2949 2118 1498

15061 0.66 384.0 248.5 10.9 2020 15069 0.00 0.00 0.00 0.000 6 0.000 0.000 2948 2118 1498

15411 0.66 384.0 209.1 10.6 2081 15418 0.00 2.95 0.00 0.000 4 0.000 0.061 2945 640 1498

15430 0.66 384.0 206.5 11.2 2084 15439 0.00 2.80 0.00 0.000 6 0.000 0.038 2949 2105 1498

15778 0.68 399.7 171.1 9.5 2145 15801 0.00 0.00 15.48 0.940 6 0.000 0.000 2948 2105 1440

16140 0.69 409.9 135.2 9.6 2208 16156 0.00 0.00 11.25 0.930 6 0.000 0.000 2948 2105 1400

16358 0.69 409.9 111.6 11.0 2246 16367 0.00 2.97 0.00 0.000 4 0.000 0.061 2945 641 1399

16381 0.74 409.9 109.2 11.7 2249 16388 0.00 2.80 0.00 0.000 6 0.000 0.038 2954 2107 1398

16593 0.79 419.6 85.9 9.7 2286 16608 0.00 0.00 11.00 0.893 6 0.000 0.000 2954 2107 1360

16811 0.87 436.3 62.2 9.4 2324 16836 0.15 0.00 17.92 0.976 6 0.064 0.000 2989 2107 1291

17045 0.77 436.3 23.7 19.3 2363 17054 0.15 3.00 0.00 0.000 4 0.125 0.062 2955 644 1289

17074 0.77 436.3 18.7 16.5 2367 17083 0.00 2.83 0.00 0.000 6 0.000 0.038 2964 2096 1288

17225 0.93 509.7 4.9 7.5 2392 17262 0.15 0.00 34.70 0.838 2 0.068 0.000 2998 2097 1154

17263 end climb: SURFACE_DEPTH_REACHED

state 17263 begin surface coast

17283 end surface coast: CONTROL_FINISHED_OK

state 17283 begin surface

ID	143	HD_C	9.8541004e-06	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0
MISSION	4	HEADING	290	PITCH_ADJ_GAIN	0.02	ALTIM_BOTTOM_TURN_MARGIN	0
DIVE	66	ESCAPE_HEADING	0	PITCH_ADJ_DBAND	2	ALTIM_TOP_TURN_MARGIN	0
D_SURF	2	ESCAPE_HEADING_DELTA	10	ROLL_MIN	182	ALTIM_TOP_MIN_OBSTACLE	0
D_FLARE	3	FIX_MISSING_TIMEOUT	0	ROLL_MAX	3816	ALTIM_PING_DEPTH	0
D_TGT	990	TGT_DEFAULT_LAT	-2030	ROLL_DEG	40	ALTIM_PING_DELTA	0
D_ABORT	1040	TGT_DEFAULT_LON	5900	C_ROLL_DIVE	2295	ALTIM_FREQUENCY	13
D_NO_BLEED	350	TGT_AUTO_DEFAULT	0	C_ROLL_CLIMB	2050	ALTIM_PULSE	3
D_FINISH	0	SM_CC	200	HEAD_ERRBAND	15	ALTIM_SENSITIVITY	3
D_PITCH	0	N_FILEKB	8	ROLL_CNV	0.028270001	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	FILEMGR	0	ROLL_TIMEOUT	15	INT_PRESSURE_YINT	0
D_CALL	0	CALL_NDIVES	1	R_PORT_OVSHOOT	16	DEEPGLIDER	0
SURFACE_URGENCY	0	COMM_SEQ	0	R_STBD_OVSHOOT	26	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	490	DEVICE4	35
T_TURN	270	CALL_WAIT	60	VBD_MAX	3964	DEVICE5	87
T_TURN_SAMPINT	5	CAPUPLOAD	0	C_VBD	3071	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	4	PHONE_DEVICE	48
T_WATCHDOG	10	T_GPS_CHARGE	-5284.7075	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	1469	AH0_24V	150	SEABIRD_T_G	0.0043273759
SPEED_FACTOR	1	PITCH_MAX	4022	AH0_10V	100	SEABIRD_T_H	0.00064184016
RHO	1.0273	C_PITCH	2800	PRESSURE_YINT	-13.47135	SEABIRD_T_I	2.4188148e-05
MASS	51457	PITCH_DBAND	0.1	PRESSURE_SLOPE	9.1530041e-05	SEABIRD_T_J	2.4070987e-06
NAV_MODE	2	PITCH_CNV	0.0046000001	AD7714Ch0Gain	64	SEABIRD_C_G	-10.197048
FERRY_MAX	45	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1695373
KALMAN_USE	2	PITCH_GAIN	27	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0015330453
HD_A	0.0038360001	PITCH_TIMEOUT	15	COMPASS_USE	0	SEABIRD_C_J	0.00015523176
HD_B	0.010078	PITCH_AD_RATE	100	ALTIM_BOTTOM_PING_RANGE	0

GPS1	070708,5932.907,-2231.836,40,1.8,40,-15.5	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	5936.626,-2237.050
_XMS_NAKs	3	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	0.37	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-40.1	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	071433,5932.933,-2231.916,11,1.6,11,-15.5	MHEAD_RNG_PITCHd_Wd	318.5,20000,-15.7,-10.000
SPEED_LIMITS	0.173,0.296	D_GRID	990

FINISH	0.0,1.027289	_24V_AH	19.6,29.913
SM_CCo	17358,0.00,0.000,0,0,1151,470.98	_10V_AH	9.7,20.512
SM_GC	0.47,7.68,0.00,0.00,0.043,0.000,0.000,1465,2312,1151,-6.10,0.48,470.98	DATA_FILE_SIZE	180510,2399
IRIDIUM_FIX	5911.23,-2226.74,120797,020259	CAP_FILE_SIZE	188051,0
TT8_MAMPS	0.021476	CFSIZE	260165632,250277888
HUMID	1637	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	8.15461	CURRENT	0.034,272.2,1
TCM_TEMP	12.30	GPS	170408,120526,5934.011,-2237.708,39,1.2,39,-15.6
XPDR_PINGS	338

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	22	250	112.08	SBE_CT	1746	24	821.34
Roll_motor	122	72	174.66	SBE_O2	1731	19	644.64
VBD_pump_during_apogee	685	1462	19652.13	Optode	972	33	629.17
VBD_pump_during_surface	0	0	0.00	WL_BB2F	945	105	1945.62
VBD_valve	0	0	0.00	WL_BBFL2VMT	2459	105	5060.96
Iridium_during_init	29	103	60.17	nil	0	0	0.00
Iridium_during_connect	32	160	101.21	nil	0	0	0.00
Iridium_during_xfer	265	223	1161.34
Transponder_ping	84	420	695.60
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	12	50	6.07
TT8	4770	19	916.22
LPSleep	6366	2	135.24
TT8_Active	844	19	162.23
TT8_Sampling	5212	39	2012.32
TT8_CF8	587	45	260.83
TT8_Kalman	0	0	0.00
Analog_circuits	2719	12	316.61
GPS_charging	0	0	0.00
Compass	5221	8	405.22
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
22	end surface: CONTROL_FINISHED_OK
state	22	begin dive
24	-0.82	-194.7	0.0	0.0	0	152	0.00	0.00	-124.72	0.000	2	0.000	0.000	1471	2320	3689
154	-0.82	-194.7	3.3	-5.6	13	174	9.80	2.95	-3.83	0.000	4	0.251	0.064	2608	884	3868
398	-0.72	-194.7	54.3	-16.0	54	407	0.12	2.83	0.00	0.000	6	0.158	0.051	2634	2288	3869
611	-0.62	-194.7	87.9	-15.0	91	618	0.17	0.00	0.00	0.000	6	0.150	0.000	2662	2288	3869
821	-0.62	-194.7	114.0	-11.4	128	829	0.00	0.00	0.00	0.000	6	0.000	0.000	2662	2288	3869
1034	-0.62	-194.7	141.5	-14.6	165	1041	0.00	0.00	0.00	0.000	6	0.000	0.000	2662	2288	3869
1245	-0.62	-194.7	170.0	-13.4	202	1254	0.00	2.80	0.00	0.000	4	0.000	0.053	2656	881	3869
1292	-0.62	-194.7	175.8	-12.6	209	1299	0.00	2.75	0.00	0.000	6	0.000	0.042	2661	2304	3869
1635	-0.62	-194.7	221.8	-13.2	270	1644	0.00	0.00	0.00	0.000	6	0.000	0.000	2661	2304	3869
1982	-0.62	-194.7	266.7	-13.1	331	1989	0.00	0.00	0.00	0.000	6	0.000	0.000	2661	2304	3869
2326	-0.62	-194.7	311.3	-13.0	392	2335	0.00	0.00	0.00	0.000	6	0.000	0.000	2661	2305	3869
2670	-0.62	-194.7	356.8	-13.7	453	2678	0.00	2.78	0.00	0.000	4	0.000	0.054	2656	881	3869
2719	-0.62	-194.7	363.3	-13.3	461	2727	0.00	2.70	0.00	0.000	6	0.000	0.041	2659	2291	3869
3059	-0.62	-194.7	409.3	-13.8	522	3067	0.00	0.00	0.00	0.000	6	0.000	0.000	2659	2290	3869
3403	-0.62	-194.7	452.7	-12.1	583	3409	0.00	0.00	0.00	0.000	6	0.000	0.000	2659	2291	3869
3744	-0.62	-194.7	494.5	-12.1	644	3751	0.00	2.78	0.00	0.000	4	0.000	0.054	2656	877	3869
3791	-0.62	-194.7	500.1	-12.1	652	3798	0.00	2.67	0.00	0.000	6	0.000	0.041	2657	2286	3869
4130	-0.62	-194.7	542.2	-12.0	713	4137	0.00	0.00	0.00	0.000	6	0.000	0.000	2657	2286	3869
4470	-0.62	-194.7	581.5	-11.1	774	4478	0.00	0.00	0.00	0.000	6	0.000	0.000	2657	2286	3869
4805	-0.62	-194.7	620.5	-11.7	819	4806	0.00	0.00	0.00	0.000	6	0.000	0.000	2657	2286	3869
5125	-0.62	-194.7	657.4	-11.9	849	5129	0.00	2.83	0.00	0.000	4	0.000	0.066	2656	881	3869
5164	-0.66	-194.7	662.2	-11.8	852	5168	0.00	2.70	0.00	0.000	6	0.000	0.047	2656	2279	3869
5488	-0.66	-194.7	699.2	-11.4	882	5490	0.00	0.00	0.00	0.000	6	0.000	0.000	2656	2279	3869
5808	-0.66	-194.7	736.9	-11.3	912	5809	0.00	0.00	0.00	0.000	6	0.000	0.000	2656	2282	3868
6125	-0.66	-194.7	773.0	-11.2	942	6126	0.00	0.00	0.00	0.000	6	0.000	0.000	2656	2282	3868
6444	-0.66	-194.7	809.7	-11.6	972	6445	0.00	0.00	0.00	0.000	6	0.000	0.000	2657	2282	3868
6762	-0.66	-194.7	846.1	-11.3	1002	6763	0.00	0.00	0.00	0.000	6	0.000	0.000	2656	2283	3868
7082	-0.66	-194.7	882.1	-11.3	1032	7084	0.00	0.00	0.00	0.000	6	0.000	0.000	2656	2283	3867
7399	-0.66	-194.7	917.6	-11.1	1062	7403	0.00	2.83	0.00	0.000	4	0.000	0.070	2656	885	3867
7440	-0.72	-194.7	922.0	-11.8	1065	7444	0.00	2.70	0.00	0.000	6	0.000	0.048	2656	2276	3867
7767	-0.72	-194.7	959.3	-11.6	1095	7768	0.00	0.00	0.00	0.000	6	0.000	0.000	2656	2276	3866
8029	end dive: TARGET_DEPTH_EXCEEDED
state	8029	begin apogee
8034	-0.19	0.0	990.0	11.6	1120	8236	0.55	0.00	195.48	1.463	6	0.123	0.000	2752	2040	3071
8236	end apogee: CONTROL_FINISHED_OK
state	8236	begin climb
8238	0.82	194.7	1000.1	0.0	1140	8449	1.27	3.20	200.62	1.378	4	0.091	0.073	2973	648	2277
8532	0.68	194.7	976.0	13.4	1165	8540	0.17	2.92	0.00	0.000	6	0.140	0.044	2951	2049	2273
8857	0.56	194.7	937.3	12.0	1196	8863	0.15	2.92	0.00	0.000	4	0.138	0.059	2925	3459	2271
8946	0.52	194.7	927.6	10.2	1203	8954	0.00	2.80	0.00	0.000	6	0.000	0.052	2926	2090	2270
9272	0.48	200.9	896.3	9.8	1234	9285	0.00	0.00	6.57	1.137	6	0.000	0.000	2925	2089	2251
9603	0.45	216.1	864.7	9.5	1265	9627	0.15	3.10	16.42	1.439	4	0.126	0.072	2899	635	2190
9632	-0.03	264.5	862.1	8.3	1267	9690	0.60	2.90	49.08	1.301	6	0.103	0.044	2794	2097	1992
10005	0.33	264.5	829.1	10.1	1302	10010	0.38	2.78	0.00	0.000	4	0.067	0.057	2868	3461	1988
10316	0.71	274.2	799.2	9.7	1329	10332	0.43	2.75	10.35	1.279	6	0.064	0.050	2951	2087	1953
10657	0.86	312.3	769.9	8.7	1361	10701	0.15	0.00	39.83	1.326	6	0.056	0.000	2990	2086	1797
11017	0.71	312.3	714.1	16.7	1395	11022	0.17	2.80	0.00	0.000	4	0.138	0.056	2961	3459	1792
11057	0.65	312.3	708.1	14.6	1398	11061	0.00	2.58	0.00	0.000	6	0.000	0.051	2961	2184	1790
11381	0.56	312.3	662.4	13.8	1428	11387	0.20	3.15	0.00	0.000	4	0.133	0.069	2927	644	1790
11422	0.61	320.4	658.0	9.7	1431	11438	0.00	3.00	8.62	1.158	6	0.000	0.044	2927	2178	1763
11763	0.64	340.7	626.0	9.3	1463	11788	0.00	0.00	22.23	1.282	6	0.000	0.000	2927	2178	1682
12115	0.66	363.4	594.3	9.2	1501	12149	0.00	3.25	23.58	1.237	4	0.000	0.065	2927	646	1588
12174	0.76	384.0	588.4	9.3	1510	12205	0.20	3.03	22.38	1.106	6	0.054	0.041	2971	2178	1504
12539	0.66	384.0	530.3	17.2	1574	12547	0.15	3.17	0.00	0.000	4	0.136	0.063	2946	634	1499
12570	0.66	384.0	525.7	13.9	1579	12577	0.00	2.97	0.00	0.000	6	0.000	0.039	2949	2162	1499
12909	0.66	384.0	486.3	11.7	1640	12917	0.00	3.08	0.00	0.000	4	0.000	0.062	2945	642	1498
12933	0.66	384.0	483.3	12.0	1644	12942	0.00	2.92	0.00	0.000	6	0.000	0.040	2949	2143	1498
13275	0.66	384.0	444.1	11.3	1705	13283	0.00	3.03	0.00	0.000	4	0.000	0.062	2945	641	1498
13299	0.66	384.0	441.1	11.7	1709	13307	0.00	2.85	0.00	0.000	6	0.000	0.038	2949	2129	1498
13642	0.66	384.0	402.4	11.3	1770	13649	0.00	0.00	0.00	0.000	6	0.000	0.000	2949	2128	1498
13982	0.66	384.0	365.4	10.7	1831	13989	0.00	3.00	0.00	0.000	4	0.000	0.062	2946	633	1498
14005	0.66	384.0	362.7	11.3	1835	14013	0.00	2.83	0.00	0.000	6	0.000	0.038	2949	2120	1498
14350	0.66	384.0	327.4	10.6	1896	14359	0.00	0.00	0.00	0.000	6	0.000	0.000	2949	2120	1498
14699	0.66	384.0	290.2	10.6	1957	14706	0.00	2.95	0.00	0.000	4	0.000	0.060	2945	637	1498
14714	0.66	384.0	288.5	10.8	1959	14722	0.00	2.80	0.00	0.000	6	0.000	0.038	2949	2118	1498
15061	0.66	384.0	248.5	10.9	2020	15069	0.00	0.00	0.00	0.000	6	0.000	0.000	2948	2118	1498
15411	0.66	384.0	209.1	10.6	2081	15418	0.00	2.95	0.00	0.000	4	0.000	0.061	2945	640	1498
15430	0.66	384.0	206.5	11.2	2084	15439	0.00	2.80	0.00	0.000	6	0.000	0.038	2949	2105	1498
15778	0.68	399.7	171.1	9.5	2145	15801	0.00	0.00	15.48	0.940	6	0.000	0.000	2948	2105	1440
16140	0.69	409.9	135.2	9.6	2208	16156	0.00	0.00	11.25	0.930	6	0.000	0.000	2948	2105	1400
16358	0.69	409.9	111.6	11.0	2246	16367	0.00	2.97	0.00	0.000	4	0.000	0.061	2945	641	1399
16381	0.74	409.9	109.2	11.7	2249	16388	0.00	2.80	0.00	0.000	6	0.000	0.038	2954	2107	1398
16593	0.79	419.6	85.9	9.7	2286	16608	0.00	0.00	11.00	0.893	6	0.000	0.000	2954	2107	1360
16811	0.87	436.3	62.2	9.4	2324	16836	0.15	0.00	17.92	0.976	6	0.064	0.000	2989	2107	1291
17045	0.77	436.3	23.7	19.3	2363	17054	0.15	3.00	0.00	0.000	4	0.125	0.062	2955	644	1289
17074	0.77	436.3	18.7	16.5	2367	17083	0.00	2.83	0.00	0.000	6	0.000	0.038	2964	2096	1288
17225	0.93	509.7	4.9	7.5	2392	17262	0.15	0.00	34.70	0.838	2	0.068	0.000	2998	2097	1154
17263	end climb: SURFACE_DEPTH_REACHED
state	17263	begin surface coast
17283	end surface coast: CONTROL_FINISHED_OK
state	17283	begin surface