Glider dive log

QPE May09 * SG164 * Dive index * Mission links * Dive 104 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 164 HEADING -1 PITCH_ADJ_DBAND 1 ALTIM_TOP_TURN_MARGIN 0

MISSION 3 ESCAPE_HEADING 0 ROLL_MIN 204 ALTIM_TOP_MIN_OBSTACLE 0

DIVE 104 ESCAPE_HEADING_DELTA 10 ROLL_MAX 3782 ALTIM_PING_DEPTH 200

D_SURF 3 FIX_MISSING_TIMEOUT 0 ROLL_DEG 40 ALTIM_PING_DELTA 25

D_FLARE 3 TGT_DEFAULT_LAT 4736 C_ROLL_DIVE 1471 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LON -12218 C_ROLL_CLIMB 1580 ALTIM_PULSE 1

D_ABORT 1090 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 3

D_NO_BLEED 100 SM_CC 415 ROLL_CNV 0.028270001 XPDR_VALID 2

D_FINISH 0 N_FILEKB 4 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

D_PITCH 0 FILEMGR 0 R_PORT_OVSHOOT 32 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 37 INT_PRESSURE_YINT 0.94

D_CALL 0 COMM_SEQ 0 ROLL_AD_RATE 400 DEEPGLIDER 0

SURFACE_URGENCY 0 KERMIT 0 ROLL_MAXERRORS 1 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 N_NOCOMM 1 ROLL_ADJ_GAIN 2 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 N_NOSURFACE 0 ROLL_ADJ_DBAND 0.029999999 DEVICE1 2

T_DIVE 330 UPLOAD_DIVES_MAX -1 VBD_MIN 490 DEVICE2 53

T_MISSION 396 CALL_TRIES 5 VBD_MAX 3962 DEVICE3 35

T_ABORT 1440 CALL_WAIT 60 C_VBD 2947 DEVICE4 -1

T_TURN 225 CAPUPLOAD 0 VBD_DBAND 2 DEVICE5 -1

T_TURN_SAMPINT 5 CAPMAXSIZE 100000 VBD_CNV -0.24529999 DEVICE6 -1

T_NO_W 120 HEAPDBG 0 VBD_TIMEOUT 720 SMARTS 0

USE_BATHY -4 T_GPS 15 PITCH_VBD_SHIFT 0.0012300001 SMARTDEVICE1 -1

USE_ICE 0 N_GPS 20 VBD_PUMP_AD_RATE_SURFACE 4 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.30000001 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_APOGEE 4 COMPASS_DEVICE 33

D_OFFGRID 1001 T_GPS_CHARGE -35194.34 VBD_BLEED_AD_RATE 8 COMPASS2_DEVICE -1

T_WATCHDOG 10 T_RSLEEP 2 UNCOM_BLEED 40 PHONE_DEVICE 48

RELAUNCH 1 RAFOS_PEAK_OFFSET 1.5 VBD_MAXERRORS 1 GPS_DEVICE 32

APOGEE_PITCH -5 RAFOS_CORR_THRESH 60 CF8_MAXERRORS 0 RAFOS_DEVICE -1

MAX_BUOY 200 RAFOS_HIT_WINDOW 3600 AH0_24V 150 XPDR_DEVICE 24

COURSE_BIAS 0 PITCH_MIN 126 AH0_10V 100 SIM_W 0

GLIDE_SLOPE 30 PITCH_MAX 3926 PHONE_SUPPLY 2 SIM_PITCH 0

SPEED_FACTOR 1 C_PITCH 2744 PRESSURE_YINT -9.4660435 SEABIRD_T_G 0.0043488215

RHO 1.0273 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001160742 SEABIRD_T_H 0.00063635618

MASS 51863 PITCH_CNV 0.003125763 AD7714Ch0Gain 128 SEABIRD_T_I 2.5028745e-05

NAV_MODE 2 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_T_J 2.7326657e-06

FERRY_MAX 45 PITCH_GAIN 21 TCM_ROLL_OFFSET 0 SEABIRD_C_G -10.160287

KALMAN_USE 2 PITCH_TIMEOUT 16 COMPASS_USE 0 SEABIRD_C_H 1.1436546

HD_A 0.0038360001 PITCH_AD_RATE 175 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_I -0.00018147723

HD_B 0.010078 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.00010835609

HD_C 9.8500004e-06 PITCH_ADJ_GAIN 0.035 ALTIM_BOTTOM_TURN_MARGIN 25

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 175 SMARTDEVICE2 -1

AH0_10V 100 D_FLARE 3 PITCH_CNV 0.003125763 SMARTS 0

AH0_24V 150 D_NO_BLEED 100 PITCH_DBAND 0.1 SM_CC 415

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 1001 PITCH_GAIN 21 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 25 D_PITCH 0 PITCH_MAX 3926 SURFACE_URGENCY 0

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DELTA 25 D_SURF 3 PITCH_MIN 126 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 200 D_TGT 990 PITCH_TIMEOUT 16 TCM_PITCH_OFFSET 0

ALTIM_PULSE 1 ESCAPE_HEADING 0 PITCH_VBD_SHIFT 0.0012300001 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 3 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.0001160742 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 0 FERRY_MAX 45 PRESSURE_YINT -9.4660435 TGT_DEFAULT_LAT 4736

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LON -12218

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 RAFOS_CORR_THRESH 60 T_ABORT 1440

APOGEE_PITCH -5 GLIDE_SLOPE 30 RAFOS_DEVICE -1 T_DIVE 330

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_GPS 15

CALL_TRIES 5 HD_A 0.0038360001 RAFOS_PEAK_OFFSET 1.5 T_GPS_ALMANAC 0

CALL_WAIT 60 HD_B 0.010078 RELAUNCH 1 T_GPS_CHARGE -35194.34

CAPMAXSIZE 100000 HD_C 9.8500004e-06 RHO 1.0273 T_MISSION 396

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0.029999999 T_NO_W 120

CF8_MAXERRORS 0 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 2 T_RSLEEP 2

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 400 T_TURN 225

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN_SAMPINT 5

COMPASS_DEVICE 33 ID 164 ROLL_DEG 40 T_WATCHDOG 10

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3782 UNCOM_BLEED 40

COURSE_BIAS 0 INT_PRESSURE_YINT 0.94 ROLL_MAXERRORS 1 UPLOAD_DIVES_MAX -1

C_PITCH 2744 KALMAN_USE 2 ROLL_MIN 204 USE_BATHY -4

C_ROLL_CLIMB 1580 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 1471 MASS 51863 R_PORT_OVSHOOT 32 VBD_BLEED_AD_RATE 8

C_VBD 2947 MAX_BUOY 200 R_STBD_OVSHOOT 37 VBD_CNV -0.24529999

DEEPGLIDER 0 MISSION 3 SEABIRD_C_G -10.160287 VBD_DBAND 2

DEEPGLIDERMB 0 MOTHERBOARD 4 SEABIRD_C_H 1.1436546 VBD_MAX 3962

DEVICE1 2 NAV_MODE 2 SEABIRD_C_I -0.00018147723 VBD_MAXERRORS 1

DEVICE2 53 N_FILEKB 4 SEABIRD_C_J 0.00010835609 VBD_MIN 490

DEVICE3 35 N_GPS 20 SEABIRD_T_G 0.0043488215 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE4 -1 N_NOCOMM 1 SEABIRD_T_H 0.00063635618 VBD_PUMP_AD_RATE_SURFACE 4

DEVICE5 -1 N_NOSURFACE 0 SEABIRD_T_I 2.5028745e-05 VBD_TIMEOUT 720

DEVICE6 -1 PHONE_DEVICE 48 SEABIRD_T_J 2.7326657e-06 XPDR_DEVICE 24

DIVE 104 PHONE_SUPPLY 2 SIM_PITCH 0 XPDR_INHIBIT 90

D_ABORT 1090 PITCH_ADJ_DBAND 1 SIM_W 0 XPDR_VALID 2

D_CALL 0 PITCH_ADJ_GAIN 0.035 SMARTDEVICE1 -1

Pre-dive calculations and measurements:

GPS1 134606,2428.253,12245.738,25,1.9,25,-3.5 TGT_NAME OFF_1

_CALLS 4 TGT_LATLONG 2442.000,12228.000

_XMS_NAKs 4 TGT_RADIUS 2000.000

_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 -68.3 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 140010,2428.093,12245.679,10,5.2,29,-3.5 MHEAD_RNG_PITCHd_Wd 269.4,39346,-15.7,-10.000

SPEED_LIMITS 0.173,0.296 D_GRID 745

Post-dive calculations and measurements:

FINISH -0.3,1.021720 ALTIM_BOTTOM_PING 700.4,80.4

SM_CCo 13019,0.00,0.000,0,0,782,531.07 _24V_AH 23.9,21.860

SM_GC 0.61,7.70,0.00,0.00,0.039,0.000,0.000,111,1496,782,-8.16,0.71,531.07 _10V_AH 10.7,13.336

IRIDIUM_FIX 2420.48,12309.87,280898,131342 DATA_FILE_SIZE 82010,1442

TT8_MAMPS 0.049855 CAP_FILE_SIZE 151301,0

HUMID 1482 CFSIZE 260165632,250523648

INTERNAL_PRESSURE 8.99695 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 26.70 CURRENT 0.248, 2.7,1

XPDR_PINGS 18 GPS 030609,173806,2429.666,12243.655,33,1.4,33,-3.5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 23 199 112.72 SBE_CT 973 24 558.20

Roll_motor 111 73 196.13 Optode 1026 33 809.37

VBD_pump_during_apogee 599 1281 18366.71 WL_BB2F 1715 105 4305.53

VBD_pump_during_surface 0 0 0.00 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 122 103 301.48 nil 0 0 0.00

Iridium_during_connect 139 160 532.01 nil 0 0 0.00

Iridium_during_xfer 273 223 1455.15

Transponder_ping 10 420 100.38

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 32 50 17.24

TT8 0 19 0.00

LPSleep 9045 2 211.97

TT8_Active 704 19 149.17

TT8_Sampling 3337 39 1421.42

TT8_CF8 747 45 366.28

TT8_Kalman 0 0 0.00

Analog_circuits 1950 12 250.46

GPS_charging 0 0 0.00

Compass 2828 8 242.16

RAFOS 0 0 0.00

Transponder 38 30 12.44

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

10 end surface: CONTROL_FINISHED_OK

state 10 begin dive

12 -0.99 -194.7 0.0 0.0 0 84 0.00 0.00 -70.20 0.000 2 0.000 0.000 108 1509 2773

86 -0.99 -194.7 3.2 -7.6 11 119 8.35 2.05 -19.25 0.000 4 0.199 0.057 2418 207 3744

358 -0.48 -194.7 83.2 -29.6 61 365 0.50 1.90 0.00 0.000 6 0.156 0.031 2580 1480 3746

685 -0.56 -194.7 119.8 -11.2 122 691 0.00 1.95 0.00 0.000 4 0.000 0.044 2580 209 3747

930 -0.69 -194.7 147.7 -9.1 168 938 0.15 1.90 0.00 0.000 6 0.041 0.031 2494 1482 3748

1258 -0.60 -194.7 186.0 -10.9 229 1264 0.17 0.00 0.00 0.000 6 0.123 0.000 2547 1482 3748

1583 -0.69 -194.7 213.3 -9.9 290 1590 0.00 1.95 0.00 0.000 4 0.000 0.043 2547 202 3748

1632 -0.78 -194.7 218.2 -9.9 299 1638 0.12 1.90 0.00 0.000 6 0.044 0.031 2473 1484 3748

1957 -0.67 -194.7 263.6 -14.3 360 1964 0.17 0.00 0.00 0.000 6 0.128 0.000 2526 1484 3748

2284 -0.74 -194.7 296.5 -9.3 421 2290 0.00 2.08 0.00 0.000 4 0.000 0.038 2526 2875 3747

2331 -0.87 -194.7 300.9 -9.1 429 2338 0.15 2.10 0.00 0.000 6 0.044 0.031 2444 1455 3747

2647 -0.72 -194.7 345.1 -13.5 460 2651 0.22 1.88 0.00 0.000 4 0.129 0.044 2513 212 3746

2684 -0.72 -194.7 349.6 -11.0 463 2694 0.00 1.88 0.00 0.000 6 0.000 0.031 2513 1480 3745

2999 -0.79 -194.7 379.3 -9.8 494 3004 0.00 2.08 0.00 0.000 4 0.000 0.038 2513 2871 3744

3074 -0.92 -194.7 385.7 -8.1 501 3078 0.12 2.05 0.00 0.000 6 0.050 0.033 2428 1490 3744

3394 -0.75 -194.7 431.0 -14.9 532 3399 0.25 1.92 0.00 0.000 4 0.131 0.053 2505 217 3742

3453 -0.75 -194.7 438.1 -11.6 537 3459 0.00 1.88 0.00 0.000 6 0.000 0.031 2504 1483 3741

3769 -0.80 -194.7 473.0 -11.1 568 3773 0.00 2.05 0.00 0.000 4 0.000 0.041 2504 2872 3738

3854 -0.92 -194.7 481.2 -8.6 576 3858 0.12 2.08 0.00 0.000 6 0.050 0.034 2433 1480 3738

4183 -0.79 -194.7 518.4 -10.7 600 4187 0.20 1.92 0.00 0.000 4 0.135 0.048 2493 216 3735

4294 -0.79 -194.7 527.3 -8.1 605 4298 0.00 1.88 0.00 0.000 6 0.000 0.032 2493 1478 3735

4616 -0.83 -194.7 547.7 -6.5 621 4619 0.00 1.95 0.00 0.000 4 0.000 0.048 2493 217 3732

4663 -0.83 -194.7 551.3 -8.2 623 4667 0.00 1.88 0.00 0.000 6 0.000 0.033 2493 1476 3732

4984 -0.88 -194.7 582.7 -11.8 639 4985 0.00 0.00 0.00 0.000 6 0.000 0.000 2493 1477 3730

5289 -0.95 -194.7 619.0 -10.2 654 5293 0.15 1.95 0.00 0.000 4 0.066 0.051 2427 220 3727

5363 -0.81 -194.7 629.8 -15.0 657 5368 0.17 1.88 0.00 0.000 6 0.134 0.035 2481 1470 3726

5680 -0.84 -194.7 669.6 -13.1 673 5683 0.00 2.12 0.00 0.000 4 0.000 0.045 2481 2872 3724

5733 -0.94 -194.7 675.6 -10.5 675 5737 0.12 2.08 0.00 0.000 6 0.071 0.038 2425 1476 3724

6049 -0.84 -194.7 715.5 -12.2 691 6052 0.17 1.92 0.00 0.000 4 0.140 0.051 2475 213 3722

6159 -0.84 -194.7 727.2 -10.5 696 6164 0.00 1.90 0.00 0.000 6 0.000 0.035 2475 1475 3721

6378 end dive: TARGET_DEPTH_EXCEEDED

state 6378 begin apogee

6382 -0.24 0.0 746.7 8.4 707 6542 0.57 0.00 155.98 1.282 6 0.113 0.000 2666 1579 2947

6542 end apogee: CONTROL_FINISHED_OK

state 6542 begin climb

6544 0.99 194.7 750.2 0.0 715 6715 1.12 2.28 162.00 1.241 4 0.072 0.053 3064 221 2152

6767 0.51 194.7 719.4 23.7 725 6771 0.52 2.15 0.00 0.000 6 0.172 0.035 2914 1576 2148

7083 0.53 242.5 683.8 8.3 741 7128 0.00 2.28 39.70 1.195 4 0.000 0.054 2915 218 1958

7161 0.54 248.0 676.7 9.8 744 7171 0.00 2.12 6.07 0.899 6 0.000 0.038 2915 1563 1935

7471 0.54 248.0 639.2 11.5 760 7476 0.00 2.20 0.00 0.000 4 0.000 0.044 2915 2986 1929

7508 0.54 248.0 635.2 10.7 761 7515 0.00 2.17 0.00 0.000 6 0.000 0.039 2915 1584 1928

7819 0.58 284.3 607.0 8.7 777 7854 0.00 2.20 31.27 1.168 4 0.000 0.053 2915 207 1787

7962 0.58 284.3 592.7 11.4 783 7966 0.00 2.08 0.00 0.000 6 0.000 0.037 2915 1567 1781

8288 0.58 284.3 554.4 11.3 799 8292 0.00 2.15 0.00 0.000 4 0.000 0.054 2915 213 1778

8324 0.58 284.3 550.2 11.8 800 8333 0.00 2.05 0.00 0.000 6 0.000 0.038 2915 1545 1778

8635 0.58 284.3 514.8 11.5 816 8639 0.00 2.10 0.00 0.000 4 0.000 0.054 2915 221 1776

8677 0.58 284.3 509.6 12.8 818 8682 0.00 2.00 0.00 0.000 6 0.000 0.039 2915 1529 1776

8999 0.58 284.3 471.8 11.8 845 9002 0.00 2.05 0.00 0.000 4 0.000 0.055 2915 211 1774

9099 0.63 284.3 459.7 11.6 854 9106 0.00 2.00 0.00 0.000 6 0.000 0.039 2915 1518 1775

9416 0.69 303.3 428.7 9.3 885 9437 0.15 0.00 15.15 1.029 6 0.070 0.000 2984 1518 1710

9745 0.52 303.3 378.6 15.6 917 9749 0.25 2.22 0.00 0.000 4 0.153 0.044 2913 2993 1706

9771 0.52 303.3 375.0 13.2 919 9778 0.00 2.28 0.00 0.000 6 0.000 0.040 2915 1514 1706

10088 0.58 303.3 341.6 10.3 950 10089 0.00 0.00 0.00 0.000 6 0.000 0.000 2914 1514 1705

10398 0.73 353.3 314.5 8.3 980 10446 0.17 2.12 43.30 0.987 4 0.067 0.054 2998 210 1505

10512 0.55 353.3 295.4 18.2 992 10519 0.22 2.00 0.00 0.000 6 0.149 0.037 2928 1491 1499

10840 0.64 353.3 259.0 11.2 1053 10845 0.00 0.00 0.00 0.000 6 0.000 0.000 2928 1491 1496

11164 0.83 392.4 223.1 8.6 1114 11202 0.22 2.10 33.10 0.902 4 0.053 0.052 3029 208 1345

11238 0.63 392.4 212.1 18.4 1127 11244 0.25 2.00 0.00 0.000 6 0.145 0.036 2951 1495 1341

11564 0.73 392.4 169.7 10.3 1188 11571 0.00 2.28 0.00 0.000 4 0.000 0.042 2952 2977 1337

11618 0.85 392.4 164.2 10.2 1198 11625 0.15 2.25 0.00 0.000 6 0.045 0.038 3038 1518 1337

11945 0.75 392.4 109.1 14.6 1259 11952 0.17 2.22 0.00 0.000 4 0.143 0.039 2988 2985 1336

11972 0.75 392.4 105.7 12.3 1264 11980 0.00 2.25 0.00 0.000 6 0.000 0.038 2988 1514 1336

12300 1.07 492.8 82.8 6.5 1325 12389 0.28 2.30 82.88 0.782 4 0.045 0.038 3114 2992 936

12410 0.88 492.8 62.7 19.2 1343 12416 0.30 2.30 0.00 0.000 6 0.153 0.036 3030 1514 933

12736 1.09 528.9 28.7 8.8 1404 12771 0.17 2.10 30.15 0.708 4 0.056 0.046 3121 204 789

12823 0.97 528.9 14.9 17.4 1419 12830 0.20 1.98 0.00 0.000 6 0.140 0.031 3058 1496 785

12918 end climb: SURFACE_DEPTH_REACHED

state 12918 begin surface coast

12946 end surface coast: CONTROL_FINISHED_OK

state 12946 begin surface

ID	164	HEADING	-1	PITCH_ADJ_DBAND	1	ALTIM_TOP_TURN_MARGIN	0
MISSION	3	ESCAPE_HEADING	0	ROLL_MIN	204	ALTIM_TOP_MIN_OBSTACLE	0
DIVE	104	ESCAPE_HEADING_DELTA	10	ROLL_MAX	3782	ALTIM_PING_DEPTH	200
D_SURF	3	FIX_MISSING_TIMEOUT	0	ROLL_DEG	40	ALTIM_PING_DELTA	25
D_FLARE	3	TGT_DEFAULT_LAT	4736	C_ROLL_DIVE	1471	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LON	-12218	C_ROLL_CLIMB	1580	ALTIM_PULSE	1
D_ABORT	1090	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	3
D_NO_BLEED	100	SM_CC	415	ROLL_CNV	0.028270001	XPDR_VALID	2
D_FINISH	0	N_FILEKB	4	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
D_PITCH	0	FILEMGR	0	R_PORT_OVSHOOT	32	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	37	INT_PRESSURE_YINT	0.94
D_CALL	0	COMM_SEQ	0	ROLL_AD_RATE	400	DEEPGLIDER	0
SURFACE_URGENCY	0	KERMIT	0	ROLL_MAXERRORS	1	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	N_NOCOMM	1	ROLL_ADJ_GAIN	2	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	N_NOSURFACE	0	ROLL_ADJ_DBAND	0.029999999	DEVICE1	2
T_DIVE	330	UPLOAD_DIVES_MAX	-1	VBD_MIN	490	DEVICE2	53
T_MISSION	396	CALL_TRIES	5	VBD_MAX	3962	DEVICE3	35
T_ABORT	1440	CALL_WAIT	60	C_VBD	2947	DEVICE4	-1
T_TURN	225	CAPUPLOAD	0	VBD_DBAND	2	DEVICE5	-1
T_TURN_SAMPINT	5	CAPMAXSIZE	100000	VBD_CNV	-0.24529999	DEVICE6	-1
T_NO_W	120	HEAPDBG	0	VBD_TIMEOUT	720	SMARTS	0
USE_BATHY	-4	T_GPS	15	PITCH_VBD_SHIFT	0.0012300001	SMARTDEVICE1	-1
USE_ICE	0	N_GPS	20	VBD_PUMP_AD_RATE_SURFACE	4	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.30000001	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_APOGEE	4	COMPASS_DEVICE	33
D_OFFGRID	1001	T_GPS_CHARGE	-35194.34	VBD_BLEED_AD_RATE	8	COMPASS2_DEVICE	-1
T_WATCHDOG	10	T_RSLEEP	2	UNCOM_BLEED	40	PHONE_DEVICE	48
RELAUNCH	1	RAFOS_PEAK_OFFSET	1.5	VBD_MAXERRORS	1	GPS_DEVICE	32
APOGEE_PITCH	-5	RAFOS_CORR_THRESH	60	CF8_MAXERRORS	0	RAFOS_DEVICE	-1
MAX_BUOY	200	RAFOS_HIT_WINDOW	3600	AH0_24V	150	XPDR_DEVICE	24
COURSE_BIAS	0	PITCH_MIN	126	AH0_10V	100	SIM_W	0
GLIDE_SLOPE	30	PITCH_MAX	3926	PHONE_SUPPLY	2	SIM_PITCH	0
SPEED_FACTOR	1	C_PITCH	2744	PRESSURE_YINT	-9.4660435	SEABIRD_T_G	0.0043488215
RHO	1.0273	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001160742	SEABIRD_T_H	0.00063635618
MASS	51863	PITCH_CNV	0.003125763	AD7714Ch0Gain	128	SEABIRD_T_I	2.5028745e-05
NAV_MODE	2	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_T_J	2.7326657e-06
FERRY_MAX	45	PITCH_GAIN	21	TCM_ROLL_OFFSET	0	SEABIRD_C_G	-10.160287
KALMAN_USE	2	PITCH_TIMEOUT	16	COMPASS_USE	0	SEABIRD_C_H	1.1436546
HD_A	0.0038360001	PITCH_AD_RATE	175	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_I	-0.00018147723
HD_B	0.010078	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.00010835609
HD_C	9.8500004e-06	PITCH_ADJ_GAIN	0.035	ALTIM_BOTTOM_TURN_MARGIN	25

GPS1	134606,2428.253,12245.738,25,1.9,25,-3.5	TGT_NAME	OFF_1
_CALLS	4	TGT_LATLONG	2442.000,12228.000
_XMS_NAKs	4	TGT_RADIUS	2000.000
_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	-68.3	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	140010,2428.093,12245.679,10,5.2,29,-3.5	MHEAD_RNG_PITCHd_Wd	269.4,39346,-15.7,-10.000
SPEED_LIMITS	0.173,0.296	D_GRID	745

FINISH	-0.3,1.021720	ALTIM_BOTTOM_PING	700.4,80.4
SM_CCo	13019,0.00,0.000,0,0,782,531.07	_24V_AH	23.9,21.860
SM_GC	0.61,7.70,0.00,0.00,0.039,0.000,0.000,111,1496,782,-8.16,0.71,531.07	_10V_AH	10.7,13.336
IRIDIUM_FIX	2420.48,12309.87,280898,131342	DATA_FILE_SIZE	82010,1442
TT8_MAMPS	0.049855	CAP_FILE_SIZE	151301,0
HUMID	1482	CFSIZE	260165632,250523648
INTERNAL_PRESSURE	8.99695	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	26.70	CURRENT	0.248, 2.7,1
XPDR_PINGS	18	GPS	030609,173806,2429.666,12243.655,33,1.4,33,-3.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	23	199	112.72	SBE_CT	973	24	558.20
Roll_motor	111	73	196.13	Optode	1026	33	809.37
VBD_pump_during_apogee	599	1281	18366.71	WL_BB2F	1715	105	4305.53
VBD_pump_during_surface	0	0	0.00	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	122	103	301.48	nil	0	0	0.00
Iridium_during_connect	139	160	532.01	nil	0	0	0.00
Iridium_during_xfer	273	223	1455.15
Transponder_ping	10	420	100.38
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	32	50	17.24
TT8	0	19	0.00
LPSleep	9045	2	211.97
TT8_Active	704	19	149.17
TT8_Sampling	3337	39	1421.42
TT8_CF8	747	45	366.28
TT8_Kalman	0	0	0.00
Analog_circuits	1950	12	250.46
GPS_charging	0	0	0.00
Compass	2828	8	242.16
RAFOS	0	0	0.00
Transponder	38	30	12.44

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
10	end surface: CONTROL_FINISHED_OK
state	10	begin dive
12	-0.99	-194.7	0.0	0.0	0	84	0.00	0.00	-70.20	0.000	2	0.000	0.000	108	1509	2773
86	-0.99	-194.7	3.2	-7.6	11	119	8.35	2.05	-19.25	0.000	4	0.199	0.057	2418	207	3744
358	-0.48	-194.7	83.2	-29.6	61	365	0.50	1.90	0.00	0.000	6	0.156	0.031	2580	1480	3746
685	-0.56	-194.7	119.8	-11.2	122	691	0.00	1.95	0.00	0.000	4	0.000	0.044	2580	209	3747
930	-0.69	-194.7	147.7	-9.1	168	938	0.15	1.90	0.00	0.000	6	0.041	0.031	2494	1482	3748
1258	-0.60	-194.7	186.0	-10.9	229	1264	0.17	0.00	0.00	0.000	6	0.123	0.000	2547	1482	3748
1583	-0.69	-194.7	213.3	-9.9	290	1590	0.00	1.95	0.00	0.000	4	0.000	0.043	2547	202	3748
1632	-0.78	-194.7	218.2	-9.9	299	1638	0.12	1.90	0.00	0.000	6	0.044	0.031	2473	1484	3748
1957	-0.67	-194.7	263.6	-14.3	360	1964	0.17	0.00	0.00	0.000	6	0.128	0.000	2526	1484	3748
2284	-0.74	-194.7	296.5	-9.3	421	2290	0.00	2.08	0.00	0.000	4	0.000	0.038	2526	2875	3747
2331	-0.87	-194.7	300.9	-9.1	429	2338	0.15	2.10	0.00	0.000	6	0.044	0.031	2444	1455	3747
2647	-0.72	-194.7	345.1	-13.5	460	2651	0.22	1.88	0.00	0.000	4	0.129	0.044	2513	212	3746
2684	-0.72	-194.7	349.6	-11.0	463	2694	0.00	1.88	0.00	0.000	6	0.000	0.031	2513	1480	3745
2999	-0.79	-194.7	379.3	-9.8	494	3004	0.00	2.08	0.00	0.000	4	0.000	0.038	2513	2871	3744
3074	-0.92	-194.7	385.7	-8.1	501	3078	0.12	2.05	0.00	0.000	6	0.050	0.033	2428	1490	3744
3394	-0.75	-194.7	431.0	-14.9	532	3399	0.25	1.92	0.00	0.000	4	0.131	0.053	2505	217	3742
3453	-0.75	-194.7	438.1	-11.6	537	3459	0.00	1.88	0.00	0.000	6	0.000	0.031	2504	1483	3741
3769	-0.80	-194.7	473.0	-11.1	568	3773	0.00	2.05	0.00	0.000	4	0.000	0.041	2504	2872	3738
3854	-0.92	-194.7	481.2	-8.6	576	3858	0.12	2.08	0.00	0.000	6	0.050	0.034	2433	1480	3738
4183	-0.79	-194.7	518.4	-10.7	600	4187	0.20	1.92	0.00	0.000	4	0.135	0.048	2493	216	3735
4294	-0.79	-194.7	527.3	-8.1	605	4298	0.00	1.88	0.00	0.000	6	0.000	0.032	2493	1478	3735
4616	-0.83	-194.7	547.7	-6.5	621	4619	0.00	1.95	0.00	0.000	4	0.000	0.048	2493	217	3732
4663	-0.83	-194.7	551.3	-8.2	623	4667	0.00	1.88	0.00	0.000	6	0.000	0.033	2493	1476	3732
4984	-0.88	-194.7	582.7	-11.8	639	4985	0.00	0.00	0.00	0.000	6	0.000	0.000	2493	1477	3730
5289	-0.95	-194.7	619.0	-10.2	654	5293	0.15	1.95	0.00	0.000	4	0.066	0.051	2427	220	3727
5363	-0.81	-194.7	629.8	-15.0	657	5368	0.17	1.88	0.00	0.000	6	0.134	0.035	2481	1470	3726
5680	-0.84	-194.7	669.6	-13.1	673	5683	0.00	2.12	0.00	0.000	4	0.000	0.045	2481	2872	3724
5733	-0.94	-194.7	675.6	-10.5	675	5737	0.12	2.08	0.00	0.000	6	0.071	0.038	2425	1476	3724
6049	-0.84	-194.7	715.5	-12.2	691	6052	0.17	1.92	0.00	0.000	4	0.140	0.051	2475	213	3722
6159	-0.84	-194.7	727.2	-10.5	696	6164	0.00	1.90	0.00	0.000	6	0.000	0.035	2475	1475	3721
6378	end dive: TARGET_DEPTH_EXCEEDED
state	6378	begin apogee
6382	-0.24	0.0	746.7	8.4	707	6542	0.57	0.00	155.98	1.282	6	0.113	0.000	2666	1579	2947
6542	end apogee: CONTROL_FINISHED_OK
state	6542	begin climb
6544	0.99	194.7	750.2	0.0	715	6715	1.12	2.28	162.00	1.241	4	0.072	0.053	3064	221	2152
6767	0.51	194.7	719.4	23.7	725	6771	0.52	2.15	0.00	0.000	6	0.172	0.035	2914	1576	2148
7083	0.53	242.5	683.8	8.3	741	7128	0.00	2.28	39.70	1.195	4	0.000	0.054	2915	218	1958
7161	0.54	248.0	676.7	9.8	744	7171	0.00	2.12	6.07	0.899	6	0.000	0.038	2915	1563	1935
7471	0.54	248.0	639.2	11.5	760	7476	0.00	2.20	0.00	0.000	4	0.000	0.044	2915	2986	1929
7508	0.54	248.0	635.2	10.7	761	7515	0.00	2.17	0.00	0.000	6	0.000	0.039	2915	1584	1928
7819	0.58	284.3	607.0	8.7	777	7854	0.00	2.20	31.27	1.168	4	0.000	0.053	2915	207	1787
7962	0.58	284.3	592.7	11.4	783	7966	0.00	2.08	0.00	0.000	6	0.000	0.037	2915	1567	1781
8288	0.58	284.3	554.4	11.3	799	8292	0.00	2.15	0.00	0.000	4	0.000	0.054	2915	213	1778
8324	0.58	284.3	550.2	11.8	800	8333	0.00	2.05	0.00	0.000	6	0.000	0.038	2915	1545	1778
8635	0.58	284.3	514.8	11.5	816	8639	0.00	2.10	0.00	0.000	4	0.000	0.054	2915	221	1776
8677	0.58	284.3	509.6	12.8	818	8682	0.00	2.00	0.00	0.000	6	0.000	0.039	2915	1529	1776
8999	0.58	284.3	471.8	11.8	845	9002	0.00	2.05	0.00	0.000	4	0.000	0.055	2915	211	1774
9099	0.63	284.3	459.7	11.6	854	9106	0.00	2.00	0.00	0.000	6	0.000	0.039	2915	1518	1775
9416	0.69	303.3	428.7	9.3	885	9437	0.15	0.00	15.15	1.029	6	0.070	0.000	2984	1518	1710
9745	0.52	303.3	378.6	15.6	917	9749	0.25	2.22	0.00	0.000	4	0.153	0.044	2913	2993	1706
9771	0.52	303.3	375.0	13.2	919	9778	0.00	2.28	0.00	0.000	6	0.000	0.040	2915	1514	1706
10088	0.58	303.3	341.6	10.3	950	10089	0.00	0.00	0.00	0.000	6	0.000	0.000	2914	1514	1705
10398	0.73	353.3	314.5	8.3	980	10446	0.17	2.12	43.30	0.987	4	0.067	0.054	2998	210	1505
10512	0.55	353.3	295.4	18.2	992	10519	0.22	2.00	0.00	0.000	6	0.149	0.037	2928	1491	1499
10840	0.64	353.3	259.0	11.2	1053	10845	0.00	0.00	0.00	0.000	6	0.000	0.000	2928	1491	1496
11164	0.83	392.4	223.1	8.6	1114	11202	0.22	2.10	33.10	0.902	4	0.053	0.052	3029	208	1345
11238	0.63	392.4	212.1	18.4	1127	11244	0.25	2.00	0.00	0.000	6	0.145	0.036	2951	1495	1341
11564	0.73	392.4	169.7	10.3	1188	11571	0.00	2.28	0.00	0.000	4	0.000	0.042	2952	2977	1337
11618	0.85	392.4	164.2	10.2	1198	11625	0.15	2.25	0.00	0.000	6	0.045	0.038	3038	1518	1337
11945	0.75	392.4	109.1	14.6	1259	11952	0.17	2.22	0.00	0.000	4	0.143	0.039	2988	2985	1336
11972	0.75	392.4	105.7	12.3	1264	11980	0.00	2.25	0.00	0.000	6	0.000	0.038	2988	1514	1336
12300	1.07	492.8	82.8	6.5	1325	12389	0.28	2.30	82.88	0.782	4	0.045	0.038	3114	2992	936
12410	0.88	492.8	62.7	19.2	1343	12416	0.30	2.30	0.00	0.000	6	0.153	0.036	3030	1514	933
12736	1.09	528.9	28.7	8.8	1404	12771	0.17	2.10	30.15	0.708	4	0.056	0.046	3121	204	789
12823	0.97	528.9	14.9	17.4	1419	12830	0.20	1.98	0.00	0.000	6	0.140	0.031	3058	1496	785
12918	end climb: SURFACE_DEPTH_REACHED
state	12918	begin surface coast
12946	end surface coast: CONTROL_FINISHED_OK
state	12946	begin surface