Glider dive log

NAB Apr08 * SG143 * Dive index * Mission links * Dive 89 * 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 335 PITCH_ADJ_GAIN 0.02 ALTIM_BOTTOM_TURN_MARGIN 0

DIVE 89 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 15 DEEPGLIDER 0

SURFACE_URGENCY 0 COMM_SEQ 0 R_STBD_OVSHOOT 19 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 -5726.73 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 0 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 -5726.73

CAPUPLOAD 0 HEADING 335 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 15 USE_ICE 0

DEEPGLIDER 0 MAX_BUOY 200 R_STBD_OVSHOOT 19 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 0 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 89 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 232338,6037.714,-2206.696,35,1.2,35,-15.9 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG 6047.597,-2208.986

_XMS_NAKs 5 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 0.67 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -47.5 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 233109,6037.809,-2206.759,14,1.8,14,-15.9 MHEAD_RNG_PITCHd_Wd 350.9,20000,-15.7,-10.000

SPEED_LIMITS 0.173,0.296 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.4,1.027344 XPDR_PINGS 213

SM_CCo 16307,0.00,0.000,0,0,941,522.24 _24V_AH 19.6,36.328

SM_GC 0.32,7.62,0.00,0.00,0.039,0.000,0.000,1466,2290,941,-6.09,-0.14,522.24 _10V_AH 9.7,26.190

IRIDIUM_FIX 6011.05,-2159.47,160797,181843 DATA_FILE_SIZE 173950,2320

TT8_MAMPS 0.021476 CAP_FILE_SIZE 186398,0

HUMID 1655 CFSIZE 260165632,247717888

INTERNAL_PRESSURE 8.12531 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 12.50 GPS 220408,040426,6041.794,-2209.136,37,1.5,37,-15.9

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 253 122.66 SBE_CT 1723 24 810.54

Roll_motor 136 72 195.55 SBE_O2 1667 19 620.87

VBD_pump_during_apogee 734 1464 21083.26 Optode 961 33 622.18

VBD_pump_during_surface 0 0 0.00 WL_BB2F 937 105 1928.47

VBD_valve 0 0 0.00 WL_BBFL2VMT 2432 105 5005.56

Iridium_during_init 28 103 58.41 nil 0 0 0.00

Iridium_during_connect 30 160 96.98 nil 0 0 0.00

Iridium_during_xfer 271 223 1184.85

Transponder_ping 53 420 438.35

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 16 50 7.91

TT8 3519 19 675.95

LPSleep 6722 2 142.80

TT8_Active 797 19 153.16

TT8_Sampling 5070 39 1957.48

TT8_CF8 625 45 278.05

TT8_Kalman 0 0 0.00

Analog_circuits 2660 12 309.67

GPS_charging 0 0 0.00

Compass 5103 8 396.05

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

23 end surface: CONTROL_FINISHED_OK

state 23 begin dive

25 -0.82 -194.7 0.0 0.0 0 129 0.00 0.00 -101.30 0.000 2 0.000 0.000 1465 2307 3610

131 -0.82 -194.7 3.3 -4.8 14 155 10.02 2.83 -5.60 0.000 4 0.254 0.066 2612 3707 3868

397 -0.72 -194.7 55.4 -16.1 63 404 0.17 2.75 0.00 0.000 6 0.142 0.041 2637 2289 3869

599 -0.66 -194.7 86.8 -15.3 100 606 0.00 0.00 0.00 0.000 6 0.000 0.000 2637 2287 3869

804 -0.59 -194.7 117.2 -14.8 137 811 0.17 2.78 0.00 0.000 4 0.141 0.054 2666 881 3869

854 -0.65 -194.7 124.2 -11.6 146 862 0.00 2.78 0.00 0.000 6 0.000 0.044 2666 2294 3869

1060 -0.65 -194.7 148.0 -11.8 183 1065 0.00 0.00 0.00 0.000 6 0.000 0.000 2666 2294 3869

1260 -0.65 -194.7 171.4 -11.7 220 1267 0.00 0.00 0.00 0.000 6 0.000 0.000 2666 2294 3869

1593 -0.65 -194.7 210.0 -11.5 281 1599 0.00 2.78 0.00 0.000 4 0.000 0.054 2666 885 3869

1650 -0.71 -194.7 216.5 -11.0 291 1656 0.00 2.70 0.00 0.000 6 0.000 0.043 2666 2288 3869

1980 -0.71 -194.7 254.9 -11.9 352 1987 0.00 0.00 0.00 0.000 6 0.000 0.000 2666 2288 3869

2314 -0.71 -194.7 293.5 -11.4 413 2319 0.00 0.00 0.00 0.000 6 0.000 0.000 2666 2288 3869

2643 -0.71 -194.7 332.1 -11.4 474 2651 0.00 2.80 0.00 0.000 4 0.000 0.055 2666 883 3869

2697 -0.78 -194.7 337.6 -10.4 483 2704 0.17 2.67 0.00 0.000 6 0.056 0.043 2628 2282 3869

3037 -0.69 -194.7 388.6 -15.3 544 3042 0.00 0.00 0.00 0.000 6 0.000 0.000 2628 2282 3869

3376 -0.61 -194.7 439.9 -15.3 605 3383 0.17 0.00 0.00 0.000 6 0.131 0.000 2657 2282 3869

3716 -0.61 -194.7 481.1 -12.3 666 3722 0.00 0.00 0.00 0.000 6 0.000 0.000 2657 2282 3869

4057 -0.61 -194.7 522.3 -12.1 727 4063 0.00 2.75 0.00 0.000 4 0.000 0.056 2657 886 3869

4113 -0.66 -194.7 529.2 -12.1 737 4119 0.00 2.65 0.00 0.000 6 0.000 0.041 2658 2272 3869

4453 -0.66 -194.7 571.1 -12.5 798 4459 0.00 0.00 0.00 0.000 6 0.000 0.000 2657 2272 3869

4793 -0.66 -194.7 611.4 -11.8 851 4794 0.00 0.00 0.00 0.000 6 0.000 0.000 2657 2272 3869

5112 -0.66 -194.7 648.2 -11.4 881 5113 0.00 0.00 0.00 0.000 6 0.000 0.000 2658 2272 3869

5430 -0.66 -194.7 685.3 -11.8 911 5435 0.00 2.83 0.00 0.000 4 0.000 0.069 2657 881 3869

5485 -0.71 -194.7 691.7 -11.0 915 5491 0.00 2.70 0.00 0.000 6 0.000 0.048 2658 2274 3869

5810 -0.71 -194.7 729.0 -11.7 946 5815 0.00 2.90 0.00 0.000 4 0.000 0.067 2657 3707 3869

5849 -0.75 -194.7 733.6 -11.7 949 5854 0.00 2.85 0.00 0.000 6 0.000 0.054 2657 2269 3868

6173 -0.75 -194.7 770.3 -11.1 979 6177 0.00 2.78 0.00 0.000 4 0.000 0.070 2657 887 3868

6212 -0.80 -194.7 774.6 -11.4 982 6217 0.17 2.70 0.00 0.000 6 0.056 0.049 2621 2273 3868

6536 -0.72 -194.7 822.0 -14.5 1012 6538 0.12 0.00 0.00 0.000 6 0.140 0.000 2639 2274 3868

6855 -0.72 -194.7 862.7 -13.2 1042 6856 0.00 0.00 0.00 0.000 6 0.000 0.000 2638 2275 3868

7172 -0.72 -194.7 903.9 -12.5 1072 7173 0.00 0.00 0.00 0.000 6 0.000 0.000 2637 2276 3867

7491 -0.72 -194.7 944.3 -12.7 1102 7496 0.00 2.83 0.00 0.000 4 0.000 0.069 2637 883 3867

7552 -0.72 -194.7 951.7 -12.3 1107 7556 0.00 2.67 0.00 0.000 6 0.000 0.049 2637 2260 3867

7863 end dive: TARGET_DEPTH_EXCEEDED

state 7864 begin apogee

7869 -0.19 0.0 990.7 12.7 1136 8069 0.70 0.00 196.48 1.464 6 0.131 0.000 2753 2039 3071

8070 end apogee: CONTROL_FINISHED_OK

state 8070 begin climb

8072 0.82 194.7 999.3 0.0 1156 8286 1.25 3.22 201.88 1.374 4 0.090 0.072 2970 652 2276

8376 0.70 194.7 973.1 13.2 1185 8381 0.00 2.92 0.00 0.000 6 0.000 0.045 2971 2050 2272

8701 0.57 194.7 931.8 12.6 1215 8707 0.25 2.92 0.00 0.000 4 0.130 0.060 2929 3469 2271

8763 0.52 194.7 925.0 10.7 1220 8768 0.20 2.85 0.00 0.000 6 0.131 0.052 2916 2073 2270

9087 0.64 287.8 902.4 6.8 1250 9189 0.12 3.15 92.53 1.371 4 0.071 0.072 2931 647 1896

9272 0.64 288.0 884.9 10.0 1267 9279 0.00 2.92 0.00 0.000 6 0.000 0.045 2944 2087 1893

9598 0.65 294.5 853.6 9.8 1298 9609 0.00 0.00 7.25 1.176 6 0.000 0.000 2941 2087 1870

9928 0.67 312.1 822.7 9.4 1329 9953 0.00 3.08 19.20 1.386 4 0.000 0.073 2961 643 1798

9991 0.72 315.8 816.6 9.9 1334 10003 0.05 2.90 5.20 0.944 6 0.099 0.045 2987 2096 1783

10320 0.72 315.8 780.6 11.2 1365 10326 0.28 2.78 0.00 0.000 4 0.113 0.059 2890 3462 1781

10360 0.95 390.4 777.3 7.4 1368 10445 0.57 2.72 76.93 1.302 6 0.043 0.051 3012 2104 1479

10770 0.74 390.4 684.4 24.0 1407 10775 0.30 2.78 0.00 0.000 4 0.149 0.055 2963 3464 1471

10791 0.58 390.4 679.4 23.2 1408 10799 0.22 2.72 0.00 0.000 6 0.136 0.049 2930 2112 1469

11116 0.66 410.8 646.4 9.3 1439 11139 0.00 0.00 20.67 1.307 6 0.000 0.000 2930 2112 1396

11456 0.74 415.0 614.0 9.9 1471 11468 0.15 3.03 5.40 0.976 4 0.064 0.067 2970 637 1379

11484 0.74 415.0 610.4 13.0 1473 11490 0.00 2.90 0.00 0.000 6 0.000 0.042 2967 2117 1378

11820 0.68 415.0 558.3 15.9 1527 11827 0.00 2.65 0.00 0.000 4 0.000 0.053 2964 3462 1377

11845 0.63 415.0 554.6 15.9 1531 11852 0.17 2.67 0.00 0.000 6 0.117 0.047 2938 2105 1377

12187 0.68 415.0 517.8 10.4 1592 12193 0.00 2.95 0.00 0.000 4 0.000 0.064 2938 635 1377

12217 0.75 415.0 514.8 10.4 1597 12224 0.12 2.85 0.00 0.000 6 0.062 0.041 2966 2117 1376

12559 0.69 415.0 463.8 15.0 1658 12565 0.00 2.65 0.00 0.000 4 0.000 0.051 2966 3469 1376

12587 0.69 415.0 459.4 15.0 1663 12593 0.00 2.67 0.00 0.000 6 0.000 0.045 2968 2102 1376

12926 0.64 415.0 409.3 14.4 1724 12933 0.17 2.92 0.00 0.000 4 0.127 0.062 2937 635 1376

12944 0.64 415.0 406.8 14.0 1727 12950 0.00 2.83 0.00 0.000 6 0.000 0.039 2943 2118 1375

13285 0.72 434.6 375.9 9.3 1788 13310 0.00 0.00 21.02 1.176 6 0.000 0.000 2947 2118 1299

13644 0.84 468.9 343.6 8.8 1852 13690 0.15 3.08 36.78 1.057 4 0.063 0.062 2976 644 1158

13708 0.84 468.9 335.3 15.1 1862 13715 0.10 2.90 0.00 0.000 6 0.106 0.039 2957 2107 1156

14042 0.84 468.9 295.3 11.5 1923 14048 0.15 0.00 0.00 0.000 6 0.067 0.000 2991 2108 1154

14372 0.74 468.9 233.3 19.8 1984 14381 0.15 3.00 0.00 0.000 4 0.135 0.061 2964 641 1153

14404 0.74 468.9 227.9 16.2 1989 14411 0.05 2.80 0.00 0.000 6 0.143 0.038 2962 2102 1152

14735 0.74 468.9 189.5 11.5 2050 14743 0.00 0.00 0.00 0.000 6 0.000 0.000 2962 2103 1151

15069 0.74 468.9 152.1 11.1 2111 15075 0.00 2.95 0.00 0.000 4 0.000 0.061 2957 635 1152

15094 0.79 468.9 149.3 11.6 2115 15100 0.00 2.78 0.00 0.000 6 0.000 0.038 2957 2094 1151

15294 0.79 468.9 127.3 10.4 2152 15301 0.00 0.00 0.00 0.000 6 0.000 0.000 2957 2094 1151

15499 0.79 468.9 104.3 11.0 2189 15505 0.00 0.00 0.00 0.000 6 0.000 0.000 2957 2094 1151

15699 0.83 468.9 81.5 10.8 2226 15707 0.12 0.00 0.00 0.000 6 0.070 0.000 2984 2094 1151

15904 0.78 468.9 49.4 14.8 2263 15912 0.00 2.95 0.00 0.000 4 0.000 0.063 2983 641 1151

15930 0.78 468.9 45.4 15.7 2267 15939 0.30 2.75 0.00 0.000 6 0.101 0.038 2998 2070 1150

16067 0.99 520.6 34.2 8.2 2292 16126 0.40 0.00 51.33 0.874 6 0.043 0.000 3017 2071 946

16226 end climb: SURFACE_DEPTH_REACHED

state 16226 begin surface coast

16233 end surface coast: CONTROL_FINISHED_OK

state 16233 begin surface

ID	143	HD_C	9.8541004e-06	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0
MISSION	4	HEADING	335	PITCH_ADJ_GAIN	0.02	ALTIM_BOTTOM_TURN_MARGIN	0
DIVE	89	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	15	DEEPGLIDER	0
SURFACE_URGENCY	0	COMM_SEQ	0	R_STBD_OVSHOOT	19	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	-5726.73	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	0	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	232338,6037.714,-2206.696,35,1.2,35,-15.9	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	6047.597,-2208.986
_XMS_NAKs	5	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	0.67	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-47.5	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	233109,6037.809,-2206.759,14,1.8,14,-15.9	MHEAD_RNG_PITCHd_Wd	350.9,20000,-15.7,-10.000
SPEED_LIMITS	0.173,0.296	D_GRID	990

FINISH	0.4,1.027344	XPDR_PINGS	213
SM_CCo	16307,0.00,0.000,0,0,941,522.24	_24V_AH	19.6,36.328
SM_GC	0.32,7.62,0.00,0.00,0.039,0.000,0.000,1466,2290,941,-6.09,-0.14,522.24	_10V_AH	9.7,26.190
IRIDIUM_FIX	6011.05,-2159.47,160797,181843	DATA_FILE_SIZE	173950,2320
TT8_MAMPS	0.021476	CAP_FILE_SIZE	186398,0
HUMID	1655	CFSIZE	260165632,247717888
INTERNAL_PRESSURE	8.12531	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	12.50	GPS	220408,040426,6041.794,-2209.136,37,1.5,37,-15.9

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	253	122.66	SBE_CT	1723	24	810.54
Roll_motor	136	72	195.55	SBE_O2	1667	19	620.87
VBD_pump_during_apogee	734	1464	21083.26	Optode	961	33	622.18
VBD_pump_during_surface	0	0	0.00	WL_BB2F	937	105	1928.47
VBD_valve	0	0	0.00	WL_BBFL2VMT	2432	105	5005.56
Iridium_during_init	28	103	58.41	nil	0	0	0.00
Iridium_during_connect	30	160	96.98	nil	0	0	0.00
Iridium_during_xfer	271	223	1184.85
Transponder_ping	53	420	438.35
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	16	50	7.91
TT8	3519	19	675.95
LPSleep	6722	2	142.80
TT8_Active	797	19	153.16
TT8_Sampling	5070	39	1957.48
TT8_CF8	625	45	278.05
TT8_Kalman	0	0	0.00
Analog_circuits	2660	12	309.67
GPS_charging	0	0	0.00
Compass	5103	8	396.05
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
23	end surface: CONTROL_FINISHED_OK
state	23	begin dive
25	-0.82	-194.7	0.0	0.0	0	129	0.00	0.00	-101.30	0.000	2	0.000	0.000	1465	2307	3610
131	-0.82	-194.7	3.3	-4.8	14	155	10.02	2.83	-5.60	0.000	4	0.254	0.066	2612	3707	3868
397	-0.72	-194.7	55.4	-16.1	63	404	0.17	2.75	0.00	0.000	6	0.142	0.041	2637	2289	3869
599	-0.66	-194.7	86.8	-15.3	100	606	0.00	0.00	0.00	0.000	6	0.000	0.000	2637	2287	3869
804	-0.59	-194.7	117.2	-14.8	137	811	0.17	2.78	0.00	0.000	4	0.141	0.054	2666	881	3869
854	-0.65	-194.7	124.2	-11.6	146	862	0.00	2.78	0.00	0.000	6	0.000	0.044	2666	2294	3869
1060	-0.65	-194.7	148.0	-11.8	183	1065	0.00	0.00	0.00	0.000	6	0.000	0.000	2666	2294	3869
1260	-0.65	-194.7	171.4	-11.7	220	1267	0.00	0.00	0.00	0.000	6	0.000	0.000	2666	2294	3869
1593	-0.65	-194.7	210.0	-11.5	281	1599	0.00	2.78	0.00	0.000	4	0.000	0.054	2666	885	3869
1650	-0.71	-194.7	216.5	-11.0	291	1656	0.00	2.70	0.00	0.000	6	0.000	0.043	2666	2288	3869
1980	-0.71	-194.7	254.9	-11.9	352	1987	0.00	0.00	0.00	0.000	6	0.000	0.000	2666	2288	3869
2314	-0.71	-194.7	293.5	-11.4	413	2319	0.00	0.00	0.00	0.000	6	0.000	0.000	2666	2288	3869
2643	-0.71	-194.7	332.1	-11.4	474	2651	0.00	2.80	0.00	0.000	4	0.000	0.055	2666	883	3869
2697	-0.78	-194.7	337.6	-10.4	483	2704	0.17	2.67	0.00	0.000	6	0.056	0.043	2628	2282	3869
3037	-0.69	-194.7	388.6	-15.3	544	3042	0.00	0.00	0.00	0.000	6	0.000	0.000	2628	2282	3869
3376	-0.61	-194.7	439.9	-15.3	605	3383	0.17	0.00	0.00	0.000	6	0.131	0.000	2657	2282	3869
3716	-0.61	-194.7	481.1	-12.3	666	3722	0.00	0.00	0.00	0.000	6	0.000	0.000	2657	2282	3869
4057	-0.61	-194.7	522.3	-12.1	727	4063	0.00	2.75	0.00	0.000	4	0.000	0.056	2657	886	3869
4113	-0.66	-194.7	529.2	-12.1	737	4119	0.00	2.65	0.00	0.000	6	0.000	0.041	2658	2272	3869
4453	-0.66	-194.7	571.1	-12.5	798	4459	0.00	0.00	0.00	0.000	6	0.000	0.000	2657	2272	3869
4793	-0.66	-194.7	611.4	-11.8	851	4794	0.00	0.00	0.00	0.000	6	0.000	0.000	2657	2272	3869
5112	-0.66	-194.7	648.2	-11.4	881	5113	0.00	0.00	0.00	0.000	6	0.000	0.000	2658	2272	3869
5430	-0.66	-194.7	685.3	-11.8	911	5435	0.00	2.83	0.00	0.000	4	0.000	0.069	2657	881	3869
5485	-0.71	-194.7	691.7	-11.0	915	5491	0.00	2.70	0.00	0.000	6	0.000	0.048	2658	2274	3869
5810	-0.71	-194.7	729.0	-11.7	946	5815	0.00	2.90	0.00	0.000	4	0.000	0.067	2657	3707	3869
5849	-0.75	-194.7	733.6	-11.7	949	5854	0.00	2.85	0.00	0.000	6	0.000	0.054	2657	2269	3868
6173	-0.75	-194.7	770.3	-11.1	979	6177	0.00	2.78	0.00	0.000	4	0.000	0.070	2657	887	3868
6212	-0.80	-194.7	774.6	-11.4	982	6217	0.17	2.70	0.00	0.000	6	0.056	0.049	2621	2273	3868
6536	-0.72	-194.7	822.0	-14.5	1012	6538	0.12	0.00	0.00	0.000	6	0.140	0.000	2639	2274	3868
6855	-0.72	-194.7	862.7	-13.2	1042	6856	0.00	0.00	0.00	0.000	6	0.000	0.000	2638	2275	3868
7172	-0.72	-194.7	903.9	-12.5	1072	7173	0.00	0.00	0.00	0.000	6	0.000	0.000	2637	2276	3867
7491	-0.72	-194.7	944.3	-12.7	1102	7496	0.00	2.83	0.00	0.000	4	0.000	0.069	2637	883	3867
7552	-0.72	-194.7	951.7	-12.3	1107	7556	0.00	2.67	0.00	0.000	6	0.000	0.049	2637	2260	3867
7863	end dive: TARGET_DEPTH_EXCEEDED
state	7864	begin apogee
7869	-0.19	0.0	990.7	12.7	1136	8069	0.70	0.00	196.48	1.464	6	0.131	0.000	2753	2039	3071
8070	end apogee: CONTROL_FINISHED_OK
state	8070	begin climb
8072	0.82	194.7	999.3	0.0	1156	8286	1.25	3.22	201.88	1.374	4	0.090	0.072	2970	652	2276
8376	0.70	194.7	973.1	13.2	1185	8381	0.00	2.92	0.00	0.000	6	0.000	0.045	2971	2050	2272
8701	0.57	194.7	931.8	12.6	1215	8707	0.25	2.92	0.00	0.000	4	0.130	0.060	2929	3469	2271
8763	0.52	194.7	925.0	10.7	1220	8768	0.20	2.85	0.00	0.000	6	0.131	0.052	2916	2073	2270
9087	0.64	287.8	902.4	6.8	1250	9189	0.12	3.15	92.53	1.371	4	0.071	0.072	2931	647	1896
9272	0.64	288.0	884.9	10.0	1267	9279	0.00	2.92	0.00	0.000	6	0.000	0.045	2944	2087	1893
9598	0.65	294.5	853.6	9.8	1298	9609	0.00	0.00	7.25	1.176	6	0.000	0.000	2941	2087	1870
9928	0.67	312.1	822.7	9.4	1329	9953	0.00	3.08	19.20	1.386	4	0.000	0.073	2961	643	1798
9991	0.72	315.8	816.6	9.9	1334	10003	0.05	2.90	5.20	0.944	6	0.099	0.045	2987	2096	1783
10320	0.72	315.8	780.6	11.2	1365	10326	0.28	2.78	0.00	0.000	4	0.113	0.059	2890	3462	1781
10360	0.95	390.4	777.3	7.4	1368	10445	0.57	2.72	76.93	1.302	6	0.043	0.051	3012	2104	1479
10770	0.74	390.4	684.4	24.0	1407	10775	0.30	2.78	0.00	0.000	4	0.149	0.055	2963	3464	1471
10791	0.58	390.4	679.4	23.2	1408	10799	0.22	2.72	0.00	0.000	6	0.136	0.049	2930	2112	1469
11116	0.66	410.8	646.4	9.3	1439	11139	0.00	0.00	20.67	1.307	6	0.000	0.000	2930	2112	1396
11456	0.74	415.0	614.0	9.9	1471	11468	0.15	3.03	5.40	0.976	4	0.064	0.067	2970	637	1379
11484	0.74	415.0	610.4	13.0	1473	11490	0.00	2.90	0.00	0.000	6	0.000	0.042	2967	2117	1378
11820	0.68	415.0	558.3	15.9	1527	11827	0.00	2.65	0.00	0.000	4	0.000	0.053	2964	3462	1377
11845	0.63	415.0	554.6	15.9	1531	11852	0.17	2.67	0.00	0.000	6	0.117	0.047	2938	2105	1377
12187	0.68	415.0	517.8	10.4	1592	12193	0.00	2.95	0.00	0.000	4	0.000	0.064	2938	635	1377
12217	0.75	415.0	514.8	10.4	1597	12224	0.12	2.85	0.00	0.000	6	0.062	0.041	2966	2117	1376
12559	0.69	415.0	463.8	15.0	1658	12565	0.00	2.65	0.00	0.000	4	0.000	0.051	2966	3469	1376
12587	0.69	415.0	459.4	15.0	1663	12593	0.00	2.67	0.00	0.000	6	0.000	0.045	2968	2102	1376
12926	0.64	415.0	409.3	14.4	1724	12933	0.17	2.92	0.00	0.000	4	0.127	0.062	2937	635	1376
12944	0.64	415.0	406.8	14.0	1727	12950	0.00	2.83	0.00	0.000	6	0.000	0.039	2943	2118	1375
13285	0.72	434.6	375.9	9.3	1788	13310	0.00	0.00	21.02	1.176	6	0.000	0.000	2947	2118	1299
13644	0.84	468.9	343.6	8.8	1852	13690	0.15	3.08	36.78	1.057	4	0.063	0.062	2976	644	1158
13708	0.84	468.9	335.3	15.1	1862	13715	0.10	2.90	0.00	0.000	6	0.106	0.039	2957	2107	1156
14042	0.84	468.9	295.3	11.5	1923	14048	0.15	0.00	0.00	0.000	6	0.067	0.000	2991	2108	1154
14372	0.74	468.9	233.3	19.8	1984	14381	0.15	3.00	0.00	0.000	4	0.135	0.061	2964	641	1153
14404	0.74	468.9	227.9	16.2	1989	14411	0.05	2.80	0.00	0.000	6	0.143	0.038	2962	2102	1152
14735	0.74	468.9	189.5	11.5	2050	14743	0.00	0.00	0.00	0.000	6	0.000	0.000	2962	2103	1151
15069	0.74	468.9	152.1	11.1	2111	15075	0.00	2.95	0.00	0.000	4	0.000	0.061	2957	635	1152
15094	0.79	468.9	149.3	11.6	2115	15100	0.00	2.78	0.00	0.000	6	0.000	0.038	2957	2094	1151
15294	0.79	468.9	127.3	10.4	2152	15301	0.00	0.00	0.00	0.000	6	0.000	0.000	2957	2094	1151
15499	0.79	468.9	104.3	11.0	2189	15505	0.00	0.00	0.00	0.000	6	0.000	0.000	2957	2094	1151
15699	0.83	468.9	81.5	10.8	2226	15707	0.12	0.00	0.00	0.000	6	0.070	0.000	2984	2094	1151
15904	0.78	468.9	49.4	14.8	2263	15912	0.00	2.95	0.00	0.000	4	0.000	0.063	2983	641	1151
15930	0.78	468.9	45.4	15.7	2267	15939	0.30	2.75	0.00	0.000	6	0.101	0.038	2998	2070	1150
16067	0.99	520.6	34.2	8.2	2292	16126	0.40	0.00	51.33	0.874	6	0.043	0.000	3017	2071	946
16226	end climb: SURFACE_DEPTH_REACHED
state	16226	begin surface coast
16233	end surface coast: CONTROL_FINISHED_OK
state	16233	begin surface