Glider dive log

QPE May09 * SG164 * Dive index * Mission links * Dive 106 * 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 106 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 37 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 38 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 -35227.258 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 -35227.258

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 37 VBD_BLEED_AD_RATE 8

C_VBD 2947 MAX_BUOY 200 R_STBD_OVSHOOT 38 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 106 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 214136,2432.863,12241.192,27,0.8,27,-3.5 TGT_NAME OFF_1

_CALLS 1 TGT_LATLONG 2442.000,12228.000

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 0.66 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -66.2 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 214738,2432.961,12241.149,14,1.1,14,-3.5 MHEAD_RNG_PITCHd_Wd 265.6,27744,-15.7,-10.000

SPEED_LIMITS 0.173,0.296 D_GRID 731

Post-dive calculations and measurements:

FINISH -0.1,1.021728 _24V_AH 23.9,22.269

SM_CCo 12832,0.00,0.000,0,0,980,482.51 _10V_AH 10.7,13.603

SM_GC 0.65,7.60,0.00,0.00,0.038,0.000,0.000,104,1470,980,-8.16,-0.03,482.51 DATA_FILE_SIZE 79067,1405

IRIDIUM_FIX 2420.48,12240.98,280898,171738 CAP_FILE_SIZE 143174,0

TT8_MAMPS 0.049088 CFSIZE 260165632,250363904

HUMID 1501 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 9.00672 CURRENT 0.420, 14.4,1

TCM_TEMP 26.20 GPS 040609,012236,2435.405,12239.837,35,1.0,41,-3.5

XPDR_PINGS 14

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 23 207 116.87 SBE_CT 949 24 544.68

Roll_motor 101 115 281.92 Optode 1000 33 788.77

VBD_pump_during_apogee 557 1281 17081.71 WL_BB2F 1669 105 4188.63

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 25 103 62.48 nil 0 0 0.00

Iridium_during_connect 36 160 138.11 nil 0 0 0.00

Iridium_during_xfer 193 223 1029.26

Transponder_ping 9 420 90.34

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 16 50 8.98

TT8 0 19 0.00

LPSleep 8829 2 206.90

TT8_Active 695 19 147.43

TT8_Sampling 3176 39 1352.57

TT8_CF8 465 45 228.01

TT8_Kalman 0 0 0.00

Analog_circuits 1868 12 239.97

GPS_charging 0 0 0.00

Compass 2705 8 231.61

RAFOS 0 0 0.00

Transponder 37 30 12.03

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

9 end surface: CONTROL_FINISHED_OK

state 9 begin dive

11 -0.99 -194.7 0.0 0.0 0 88 0.00 0.00 -75.30 0.000 2 0.000 0.000 111 1464 2924

90 -0.99 -194.7 3.7 -10.8 12 122 8.50 1.98 -15.25 0.000 4 0.208 0.064 2424 209 3745

362 -0.52 -194.7 82.9 -26.5 62 370 0.45 1.90 0.00 0.000 6 0.162 0.031 2567 1478 3748

689 -0.56 -194.7 119.0 -10.5 123 696 0.00 1.95 0.00 0.000 4 0.000 0.042 2567 206 3750

829 -0.64 -194.7 131.5 -8.6 149 835 0.00 1.88 0.00 0.000 6 0.000 0.031 2568 1466 3750

1155 -0.78 -194.7 157.4 -8.1 210 1163 0.22 2.10 0.00 0.000 4 0.048 0.036 2460 2886 3751

1177 -0.78 -194.7 159.7 -10.2 214 1186 0.08 2.10 0.00 0.000 6 0.127 0.030 2487 1463 3751

1506 -0.69 -194.7 199.9 -12.8 275 1513 0.12 0.00 0.00 0.000 6 0.136 0.000 2525 1463 3751

1832 -0.75 -194.7 229.0 -10.6 336 1839 0.00 2.12 0.00 0.000 4 0.000 0.036 2525 2886 3751

1870 -0.85 -194.7 232.9 -10.5 343 1876 0.12 2.08 0.00 0.000 6 0.048 0.030 2454 1478 3751

2195 -0.71 -194.7 288.7 -15.6 404 2202 0.20 1.90 0.00 0.000 4 0.128 0.041 2516 212 3751

2249 -0.71 -194.7 295.4 -11.1 414 2257 0.00 1.85 0.00 0.000 6 0.000 0.030 2516 1465 3751

2568 -0.76 -194.7 327.1 -10.0 449 2572 0.00 1.90 0.00 0.000 4 0.000 0.043 2516 217 3750

2599 -0.76 -194.7 330.7 -11.4 452 2603 0.00 1.83 0.00 0.000 6 0.000 0.031 2516 1453 3751

2921 -0.82 -194.7 361.7 -9.1 483 2922 0.12 0.00 0.00 0.000 6 0.071 0.000 2455 1455 3748

3232 -0.74 -194.7 396.8 -11.8 513 3236 0.17 2.10 0.00 0.000 4 0.129 0.038 2513 2878 3747

3305 -0.87 -194.7 403.2 -7.5 519 3312 0.10 2.12 0.00 0.000 6 0.054 0.031 2452 1446 3747

3621 -0.79 -194.7 439.6 -11.4 550 3625 0.12 1.85 0.00 0.000 4 0.139 0.045 2487 225 3745

3684 -0.79 -194.7 446.0 -10.4 556 3689 0.00 1.80 0.00 0.000 6 0.000 0.030 2487 1453 3745

4006 -0.79 -194.7 475.0 -9.4 587 4014 0.00 1.88 0.00 0.000 4 0.000 0.046 2487 230 3743

4108 -0.79 -194.7 485.3 -10.1 596 4116 0.00 1.83 0.00 0.000 6 0.000 0.031 2487 1457 3743

4432 -0.79 -194.7 514.2 -8.2 620 4436 0.00 2.10 0.00 0.000 4 0.000 0.041 2487 2857 3740

4490 -0.87 -194.7 518.6 -7.9 622 4499 0.00 2.10 0.00 0.000 6 0.000 0.034 2487 1450 3740

4800 -0.93 -194.7 546.0 -8.4 638 4802 0.12 0.00 0.00 0.000 6 0.074 0.000 2430 1450 3738

5106 -0.82 -194.7 585.0 -13.2 653 5108 0.17 0.00 0.00 0.000 6 0.137 0.000 2480 1450 3735

5411 -0.86 -194.7 617.8 -11.0 668 5415 0.00 1.88 0.00 0.000 4 0.000 0.048 2481 227 3733

5512 -0.86 -194.7 629.1 -10.8 672 5519 0.00 1.83 0.00 0.000 6 0.000 0.032 2481 1460 3732

5822 -0.90 -194.7 657.9 -8.8 688 5826 0.00 2.10 0.00 0.000 4 0.000 0.042 2481 2853 3730

5849 -0.97 -194.7 660.1 -8.0 689 5853 0.12 2.08 0.00 0.000 6 0.054 0.035 2414 1471 3729

6171 -0.85 -194.7 692.3 -9.9 705 6175 0.20 1.90 0.00 0.000 4 0.139 0.049 2477 216 3727

6276 -0.85 -194.7 701.7 -9.6 710 6281 0.00 1.83 0.00 0.000 6 0.000 0.034 2478 1435 3726

6603 -0.89 -194.7 728.6 -8.3 726 6607 0.00 2.17 0.00 0.000 4 0.000 0.044 2477 2872 3725

6625 -0.95 -194.7 730.4 -8.6 727 6628 0.10 2.15 0.00 0.000 6 0.056 0.037 2422 1448 3724

6632 end dive: TARGET_DEPTH_EXCEEDED

state 6632 begin apogee

6637 -0.24 0.0 731.3 8.5 727 6796 0.73 0.00 156.95 1.282 6 0.123 0.000 2661 1582 2947

6796 end apogee: CONTROL_FINISHED_OK

state 6797 begin climb

6798 0.99 194.7 737.7 0.0 735 6970 1.17 2.30 163.00 1.240 4 0.072 0.052 3065 213 2152

6995 0.51 194.7 715.8 21.0 745 6999 0.52 2.17 0.00 0.000 6 0.173 0.035 2917 1568 2150

7317 0.44 194.7 674.5 12.8 761 7320 0.00 2.15 0.00 0.000 4 0.000 0.053 2917 224 2145

7423 0.40 194.7 659.3 14.7 766 7427 0.12 2.05 0.00 0.000 6 0.143 0.036 2875 1560 2144

7749 0.48 194.7 622.6 10.4 782 7750 0.00 0.00 0.00 0.000 6 0.000 0.000 2875 1561 2142

8055 0.63 245.5 594.2 8.2 797 8100 0.20 2.17 41.58 1.181 4 0.062 0.054 2960 218 1945

8149 0.48 245.5 583.3 12.5 801 8154 0.17 2.10 0.00 0.000 6 0.147 0.038 2905 1556 1941

8465 0.53 290.6 554.7 8.4 817 8508 0.00 2.25 38.58 1.154 4 0.000 0.054 2905 208 1761

8539 0.59 290.6 547.6 10.5 820 8543 0.00 2.12 0.00 0.000 6 0.000 0.038 2905 1552 1758

8855 0.68 331.5 517.0 8.6 836 8897 0.17 2.20 35.65 1.127 4 0.060 0.054 2985 203 1593

8928 0.49 331.5 505.6 18.0 839 8932 0.25 2.10 0.00 0.000 6 0.149 0.038 2908 1532 1589

9249 0.55 331.5 472.7 11.1 868 9250 0.00 0.00 0.00 0.000 6 0.000 0.000 2908 1533 1584

9559 0.61 331.5 438.6 11.1 898 9562 0.00 2.08 0.00 0.000 4 0.000 0.054 2908 207 1582

9644 0.71 331.5 429.8 10.1 906 9648 0.15 2.03 0.00 0.000 6 0.052 0.039 2982 1527 1582

9965 0.53 331.5 378.8 15.2 937 9966 0.22 0.00 0.00 0.000 6 0.156 0.000 2920 1527 1581

10277 0.60 331.5 342.5 13.0 967 10280 0.00 2.05 0.00 0.000 4 0.000 0.055 2920 208 1579

10318 0.69 331.5 336.7 13.6 971 10322 0.10 2.03 0.00 0.000 6 0.061 0.040 2974 1531 1579

10637 0.58 331.5 279.1 17.9 1012 10643 0.15 0.00 0.00 0.000 6 0.153 0.000 2933 1532 1579

10962 0.63 331.5 235.9 11.0 1073 10968 0.00 2.08 0.00 0.000 4 0.000 0.054 2933 210 1579

10978 0.69 331.5 234.3 10.7 1076 10985 0.00 2.00 0.00 0.000 6 0.000 0.041 2933 1517 1579

11305 0.78 331.5 199.3 11.3 1137 11311 0.17 0.00 0.00 0.000 6 0.058 0.000 3016 1518 1578

11630 0.65 331.5 153.1 11.1 1198 11637 0.22 2.03 0.00 0.000 4 0.144 0.051 2951 213 1578

11711 0.95 455.6 147.0 5.7 1213 11818 0.22 1.95 101.65 0.857 6 0.041 0.038 3065 1500 1088

12138 0.89 455.6 81.6 11.6 1290 12145 0.12 2.28 0.00 0.000 4 0.144 0.039 3031 2987 1077

12219 1.04 480.1 74.3 9.2 1305 12246 0.10 2.25 20.25 0.749 6 0.050 0.036 3096 1521 987

12566 0.96 480.1 22.7 15.7 1369 12572 0.15 2.00 0.00 0.000 4 0.150 0.047 3059 215 982

12641 1.03 480.1 12.9 11.4 1383 12648 0.00 1.98 0.00 0.000 6 0.000 0.034 3058 1519 981

12731 end climb: SURFACE_DEPTH_REACHED

state 12731 begin surface coast

12759 end surface coast: CONTROL_FINISHED_OK

state 12759 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	106	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	37	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	38	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	-35227.258	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	214136,2432.863,12241.192,27,0.8,27,-3.5	TGT_NAME	OFF_1
_CALLS	1	TGT_LATLONG	2442.000,12228.000
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	0.66	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-66.2	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	214738,2432.961,12241.149,14,1.1,14,-3.5	MHEAD_RNG_PITCHd_Wd	265.6,27744,-15.7,-10.000
SPEED_LIMITS	0.173,0.296	D_GRID	731

FINISH	-0.1,1.021728	_24V_AH	23.9,22.269
SM_CCo	12832,0.00,0.000,0,0,980,482.51	_10V_AH	10.7,13.603
SM_GC	0.65,7.60,0.00,0.00,0.038,0.000,0.000,104,1470,980,-8.16,-0.03,482.51	DATA_FILE_SIZE	79067,1405
IRIDIUM_FIX	2420.48,12240.98,280898,171738	CAP_FILE_SIZE	143174,0
TT8_MAMPS	0.049088	CFSIZE	260165632,250363904
HUMID	1501	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	9.00672	CURRENT	0.420, 14.4,1
TCM_TEMP	26.20	GPS	040609,012236,2435.405,12239.837,35,1.0,41,-3.5
XPDR_PINGS	14

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	23	207	116.87	SBE_CT	949	24	544.68
Roll_motor	101	115	281.92	Optode	1000	33	788.77
VBD_pump_during_apogee	557	1281	17081.71	WL_BB2F	1669	105	4188.63
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	25	103	62.48	nil	0	0	0.00
Iridium_during_connect	36	160	138.11	nil	0	0	0.00
Iridium_during_xfer	193	223	1029.26
Transponder_ping	9	420	90.34
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	16	50	8.98
TT8	0	19	0.00
LPSleep	8829	2	206.90
TT8_Active	695	19	147.43
TT8_Sampling	3176	39	1352.57
TT8_CF8	465	45	228.01
TT8_Kalman	0	0	0.00
Analog_circuits	1868	12	239.97
GPS_charging	0	0	0.00
Compass	2705	8	231.61
RAFOS	0	0	0.00
Transponder	37	30	12.03

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
9	end surface: CONTROL_FINISHED_OK
state	9	begin dive
11	-0.99	-194.7	0.0	0.0	0	88	0.00	0.00	-75.30	0.000	2	0.000	0.000	111	1464	2924
90	-0.99	-194.7	3.7	-10.8	12	122	8.50	1.98	-15.25	0.000	4	0.208	0.064	2424	209	3745
362	-0.52	-194.7	82.9	-26.5	62	370	0.45	1.90	0.00	0.000	6	0.162	0.031	2567	1478	3748
689	-0.56	-194.7	119.0	-10.5	123	696	0.00	1.95	0.00	0.000	4	0.000	0.042	2567	206	3750
829	-0.64	-194.7	131.5	-8.6	149	835	0.00	1.88	0.00	0.000	6	0.000	0.031	2568	1466	3750
1155	-0.78	-194.7	157.4	-8.1	210	1163	0.22	2.10	0.00	0.000	4	0.048	0.036	2460	2886	3751
1177	-0.78	-194.7	159.7	-10.2	214	1186	0.08	2.10	0.00	0.000	6	0.127	0.030	2487	1463	3751
1506	-0.69	-194.7	199.9	-12.8	275	1513	0.12	0.00	0.00	0.000	6	0.136	0.000	2525	1463	3751
1832	-0.75	-194.7	229.0	-10.6	336	1839	0.00	2.12	0.00	0.000	4	0.000	0.036	2525	2886	3751
1870	-0.85	-194.7	232.9	-10.5	343	1876	0.12	2.08	0.00	0.000	6	0.048	0.030	2454	1478	3751
2195	-0.71	-194.7	288.7	-15.6	404	2202	0.20	1.90	0.00	0.000	4	0.128	0.041	2516	212	3751
2249	-0.71	-194.7	295.4	-11.1	414	2257	0.00	1.85	0.00	0.000	6	0.000	0.030	2516	1465	3751
2568	-0.76	-194.7	327.1	-10.0	449	2572	0.00	1.90	0.00	0.000	4	0.000	0.043	2516	217	3750
2599	-0.76	-194.7	330.7	-11.4	452	2603	0.00	1.83	0.00	0.000	6	0.000	0.031	2516	1453	3751
2921	-0.82	-194.7	361.7	-9.1	483	2922	0.12	0.00	0.00	0.000	6	0.071	0.000	2455	1455	3748
3232	-0.74	-194.7	396.8	-11.8	513	3236	0.17	2.10	0.00	0.000	4	0.129	0.038	2513	2878	3747
3305	-0.87	-194.7	403.2	-7.5	519	3312	0.10	2.12	0.00	0.000	6	0.054	0.031	2452	1446	3747
3621	-0.79	-194.7	439.6	-11.4	550	3625	0.12	1.85	0.00	0.000	4	0.139	0.045	2487	225	3745
3684	-0.79	-194.7	446.0	-10.4	556	3689	0.00	1.80	0.00	0.000	6	0.000	0.030	2487	1453	3745
4006	-0.79	-194.7	475.0	-9.4	587	4014	0.00	1.88	0.00	0.000	4	0.000	0.046	2487	230	3743
4108	-0.79	-194.7	485.3	-10.1	596	4116	0.00	1.83	0.00	0.000	6	0.000	0.031	2487	1457	3743
4432	-0.79	-194.7	514.2	-8.2	620	4436	0.00	2.10	0.00	0.000	4	0.000	0.041	2487	2857	3740
4490	-0.87	-194.7	518.6	-7.9	622	4499	0.00	2.10	0.00	0.000	6	0.000	0.034	2487	1450	3740
4800	-0.93	-194.7	546.0	-8.4	638	4802	0.12	0.00	0.00	0.000	6	0.074	0.000	2430	1450	3738
5106	-0.82	-194.7	585.0	-13.2	653	5108	0.17	0.00	0.00	0.000	6	0.137	0.000	2480	1450	3735
5411	-0.86	-194.7	617.8	-11.0	668	5415	0.00	1.88	0.00	0.000	4	0.000	0.048	2481	227	3733
5512	-0.86	-194.7	629.1	-10.8	672	5519	0.00	1.83	0.00	0.000	6	0.000	0.032	2481	1460	3732
5822	-0.90	-194.7	657.9	-8.8	688	5826	0.00	2.10	0.00	0.000	4	0.000	0.042	2481	2853	3730
5849	-0.97	-194.7	660.1	-8.0	689	5853	0.12	2.08	0.00	0.000	6	0.054	0.035	2414	1471	3729
6171	-0.85	-194.7	692.3	-9.9	705	6175	0.20	1.90	0.00	0.000	4	0.139	0.049	2477	216	3727
6276	-0.85	-194.7	701.7	-9.6	710	6281	0.00	1.83	0.00	0.000	6	0.000	0.034	2478	1435	3726
6603	-0.89	-194.7	728.6	-8.3	726	6607	0.00	2.17	0.00	0.000	4	0.000	0.044	2477	2872	3725
6625	-0.95	-194.7	730.4	-8.6	727	6628	0.10	2.15	0.00	0.000	6	0.056	0.037	2422	1448	3724
6632	end dive: TARGET_DEPTH_EXCEEDED
state	6632	begin apogee
6637	-0.24	0.0	731.3	8.5	727	6796	0.73	0.00	156.95	1.282	6	0.123	0.000	2661	1582	2947
6796	end apogee: CONTROL_FINISHED_OK
state	6797	begin climb
6798	0.99	194.7	737.7	0.0	735	6970	1.17	2.30	163.00	1.240	4	0.072	0.052	3065	213	2152
6995	0.51	194.7	715.8	21.0	745	6999	0.52	2.17	0.00	0.000	6	0.173	0.035	2917	1568	2150
7317	0.44	194.7	674.5	12.8	761	7320	0.00	2.15	0.00	0.000	4	0.000	0.053	2917	224	2145
7423	0.40	194.7	659.3	14.7	766	7427	0.12	2.05	0.00	0.000	6	0.143	0.036	2875	1560	2144
7749	0.48	194.7	622.6	10.4	782	7750	0.00	0.00	0.00	0.000	6	0.000	0.000	2875	1561	2142
8055	0.63	245.5	594.2	8.2	797	8100	0.20	2.17	41.58	1.181	4	0.062	0.054	2960	218	1945
8149	0.48	245.5	583.3	12.5	801	8154	0.17	2.10	0.00	0.000	6	0.147	0.038	2905	1556	1941
8465	0.53	290.6	554.7	8.4	817	8508	0.00	2.25	38.58	1.154	4	0.000	0.054	2905	208	1761
8539	0.59	290.6	547.6	10.5	820	8543	0.00	2.12	0.00	0.000	6	0.000	0.038	2905	1552	1758
8855	0.68	331.5	517.0	8.6	836	8897	0.17	2.20	35.65	1.127	4	0.060	0.054	2985	203	1593
8928	0.49	331.5	505.6	18.0	839	8932	0.25	2.10	0.00	0.000	6	0.149	0.038	2908	1532	1589
9249	0.55	331.5	472.7	11.1	868	9250	0.00	0.00	0.00	0.000	6	0.000	0.000	2908	1533	1584
9559	0.61	331.5	438.6	11.1	898	9562	0.00	2.08	0.00	0.000	4	0.000	0.054	2908	207	1582
9644	0.71	331.5	429.8	10.1	906	9648	0.15	2.03	0.00	0.000	6	0.052	0.039	2982	1527	1582
9965	0.53	331.5	378.8	15.2	937	9966	0.22	0.00	0.00	0.000	6	0.156	0.000	2920	1527	1581
10277	0.60	331.5	342.5	13.0	967	10280	0.00	2.05	0.00	0.000	4	0.000	0.055	2920	208	1579
10318	0.69	331.5	336.7	13.6	971	10322	0.10	2.03	0.00	0.000	6	0.061	0.040	2974	1531	1579
10637	0.58	331.5	279.1	17.9	1012	10643	0.15	0.00	0.00	0.000	6	0.153	0.000	2933	1532	1579
10962	0.63	331.5	235.9	11.0	1073	10968	0.00	2.08	0.00	0.000	4	0.000	0.054	2933	210	1579
10978	0.69	331.5	234.3	10.7	1076	10985	0.00	2.00	0.00	0.000	6	0.000	0.041	2933	1517	1579
11305	0.78	331.5	199.3	11.3	1137	11311	0.17	0.00	0.00	0.000	6	0.058	0.000	3016	1518	1578
11630	0.65	331.5	153.1	11.1	1198	11637	0.22	2.03	0.00	0.000	4	0.144	0.051	2951	213	1578
11711	0.95	455.6	147.0	5.7	1213	11818	0.22	1.95	101.65	0.857	6	0.041	0.038	3065	1500	1088
12138	0.89	455.6	81.6	11.6	1290	12145	0.12	2.28	0.00	0.000	4	0.144	0.039	3031	2987	1077
12219	1.04	480.1	74.3	9.2	1305	12246	0.10	2.25	20.25	0.749	6	0.050	0.036	3096	1521	987
12566	0.96	480.1	22.7	15.7	1369	12572	0.15	2.00	0.00	0.000	4	0.150	0.047	3059	215	982
12641	1.03	480.1	12.9	11.4	1383	12648	0.00	1.98	0.00	0.000	6	0.000	0.034	3058	1519	981
12731	end climb: SURFACE_DEPTH_REACHED
state	12731	begin surface coast
12759	end surface coast: CONTROL_FINISHED_OK
state	12759	begin surface