Glider dive log

QPE May09 * SG165 * Dive index * Mission links * Dive 111 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 165 HEADING -1 PITCH_ADJ_DBAND 1 ALTIM_TOP_TURN_MARGIN 0

MISSION 2 ESCAPE_HEADING 0 ROLL_MIN 200 ALTIM_TOP_MIN_OBSTACLE 0

DIVE 111 ESCAPE_HEADING_DELTA 10 ROLL_MAX 3692 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 2071 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LON -12218 C_ROLL_CLIMB 2525 ALTIM_PULSE 3

D_ABORT 1090 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 2

D_NO_BLEED 100 SM_CC 435 ROLL_CNV 0.028270001 XPDR_VALID 1

D_FINISH 0 N_FILEKB 4 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

D_PITCH 0 FILEMGR 0 R_PORT_OVSHOOT 34 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 37 INT_PRESSURE_YINT 0

D_CALL 0 COMM_SEQ 0 ROLL_AD_RATE 350 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 275 UPLOAD_DIVES_MAX -1 VBD_MIN 485 DEVICE2 53

T_MISSION 330 CALL_TRIES 5 VBD_MAX 3959 DEVICE3 35

T_ABORT 1440 CALL_WAIT 60 C_VBD 2759 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 -119095.84 VBD_BLEED_AD_RATE 8 COMPASS2_DEVICE -1

T_WATCHDOG 10 T_RSLEEP 2 UNCOM_BLEED 20 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 180 AH0_10V 100 SIM_W 0

GLIDE_SLOPE 30 PITCH_MAX 3922 PHONE_SUPPLY 2 SIM_PITCH 0

SPEED_FACTOR 1 C_PITCH 2819 PRESSURE_YINT -19.66094 SEABIRD_T_G 0.0043383995

RHO 1.0273 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.000116182 SEABIRD_T_H 0.00062454981

MASS 52067 PITCH_CNV 0.003125763 AD7714Ch0Gain 128 SEABIRD_T_I 2.3067754e-05

NAV_MODE 2 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_T_J 2.3616824e-06

FERRY_MAX 45 PITCH_GAIN 25.5 TCM_ROLL_OFFSET 0 SEABIRD_C_G -9.9113674

KALMAN_USE 2 PITCH_TIMEOUT 16 COMPASS_USE 0 SEABIRD_C_H 1.100266

HD_A 0.0038360001 PITCH_AD_RATE 175 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_I 0.0005534364

HD_B 0.010078 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 6.0498875e-05

HD_C 9.8500004e-06 PITCH_ADJ_GAIN 0.045000002 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 435

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 1001 PITCH_GAIN 25.5 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 25 D_PITCH 0 PITCH_MAX 3922 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 180 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 200 D_TGT 990 PITCH_TIMEOUT 16 TCM_PITCH_OFFSET 0

ALTIM_PULSE 3 ESCAPE_HEADING 0 PITCH_VBD_SHIFT 0.0012300001 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 2 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.000116182 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 0 FERRY_MAX 45 PRESSURE_YINT -19.66094 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 275

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 -119095.84

CAPMAXSIZE 100000 HD_C 9.8500004e-06 RHO 1.0273 T_MISSION 330

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 350 T_TURN 225

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN_SAMPINT 5

COMPASS_DEVICE 33 ID 165 ROLL_DEG 40 T_WATCHDOG 10

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3692 UNCOM_BLEED 20

COURSE_BIAS 0 INT_PRESSURE_YINT 0 ROLL_MAXERRORS 1 UPLOAD_DIVES_MAX -1

C_PITCH 2819 KALMAN_USE 2 ROLL_MIN 200 USE_BATHY -4

C_ROLL_CLIMB 2525 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 2071 MASS 52067 R_PORT_OVSHOOT 34 VBD_BLEED_AD_RATE 8

C_VBD 2759 MAX_BUOY 200 R_STBD_OVSHOOT 37 VBD_CNV -0.24529999

DEEPGLIDER 0 MISSION 2 SEABIRD_C_G -9.9113674 VBD_DBAND 2

DEEPGLIDERMB 0 MOTHERBOARD 4 SEABIRD_C_H 1.100266 VBD_MAX 3959

DEVICE1 2 NAV_MODE 2 SEABIRD_C_I 0.0005534364 VBD_MAXERRORS 1

DEVICE2 53 N_FILEKB 4 SEABIRD_C_J 6.0498875e-05 VBD_MIN 485

DEVICE3 35 N_GPS 20 SEABIRD_T_G 0.0043383995 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE4 -1 N_NOCOMM 1 SEABIRD_T_H 0.00062454981 VBD_PUMP_AD_RATE_SURFACE 4

DEVICE5 -1 N_NOSURFACE 0 SEABIRD_T_I 2.3067754e-05 VBD_TIMEOUT 720

DEVICE6 -1 PHONE_DEVICE 48 SEABIRD_T_J 2.3616824e-06 XPDR_DEVICE 24

DIVE 111 PHONE_SUPPLY 2 SIM_PITCH 0 XPDR_INHIBIT 90

D_ABORT 1090 PITCH_ADJ_DBAND 1 SIM_W 0 XPDR_VALID 1

D_CALL 0 PITCH_ADJ_GAIN 0.045000002 SMARTDEVICE1 -1

Pre-dive calculations and measurements:

GPS1 203225,2529.719,12252.893,40,1.1,40,-3.7 TGT_NAME IN_3

_CALLS 1 TGT_LATLONG 2540.000,12250.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 2.01 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -72.9 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 203802,2529.780,12253.001,10,1.1,10,-3.7 MHEAD_RNG_PITCHd_Wd 343.6,19579,-18.3,-12.000

SPEED_LIMITS 0.208,0.315 D_GRID 974

Post-dive calculations and measurements:

FINISH 1.5,1.010958 ALTIM_BOTTOM_PING 926.7,21.0

SM_CCo 14901,5.32,0.489,0,0,984,435.16 _24V_AH 23.7,24.623

SM_GC 3.85,0.00,0.00,5.32,0.000,0.000,0.489,160,2056,984,-8.31,-0.42,435.16 _10V_AH 10.7,18.075

IRIDIUM_FIX 2517.50,12252.43,310898,161659 DATA_FILE_SIZE 82204,1467

TT8_MAMPS 0.048321 CAP_FILE_SIZE 153545,0

HUMID 1571 CFSIZE 260165632,249192448

INTERNAL_PRESSURE 8.83823 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 25.40 CURRENT 0.179,353.1,1

XPDR_PINGS 132 GPS 070609,004730,2533.368,12251.961,37,1.1,37,-3.7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 28 226 152.56 SBE_CT 993 24 565.22

Roll_motor 104 69 173.52 Optode 1037 33 811.79

VBD_pump_during_apogee 512 1345 16326.22 WL_BB2F 1631 105 4059.02

VBD_pump_during_surface 5 488 61.66 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 29 103 72.33 nil 0 0 0.00

Iridium_during_connect 35 160 135.02 nil 0 0 0.00

Iridium_during_xfer 177 223 936.55

Transponder_ping 40 420 405.63

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 13 50 7.01

TT8 0 19 0.00

LPSleep 10844 2 254.11

TT8_Active 677 19 143.48

TT8_Sampling 3255 39 1386.49

TT8_CF8 442 45 216.93

TT8_Kalman 0 0 0.00

Analog_circuits 1863 12 239.22

GPS_charging 0 0 0.00

Compass 2754 8 235.74

RAFOS 0 0 0.00

Transponder 54 30 17.41

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 -0.96 -194.7 0.0 0.0 0 64 0.00 0.00 -50.30 0.000 2 0.000 0.000 167 2084 2091

66 -0.96 -194.7 3.3 -4.5 8 123 8.82 2.25 -40.28 0.000 4 0.226 0.066 2498 3473 3555

244 -0.22 -194.7 54.7 -36.2 40 251 0.75 2.17 0.00 0.000 6 0.156 0.035 2735 2063 3557

571 -0.62 -194.7 85.3 -5.7 101 577 0.30 0.00 0.00 0.000 6 0.043 0.000 2589 2058 3559

896 -0.34 -194.7 153.2 -21.4 162 904 0.38 0.00 0.00 0.000 6 0.133 0.000 2710 2058 3561

1223 -0.84 -194.7 173.1 -5.0 223 1230 0.43 2.22 0.00 0.000 4 0.038 0.056 2509 3476 3562

1245 -0.84 -194.7 175.3 -10.2 227 1252 0.08 2.15 0.00 0.000 6 0.150 0.035 2537 2063 3561

1571 -0.48 -194.7 231.2 -14.3 288 1578 0.40 2.15 0.00 0.000 4 0.141 0.050 2665 678 3562

1668 -0.89 -194.7 236.2 -3.8 306 1676 0.32 2.15 0.00 0.000 6 0.035 0.040 2500 2066 3562

2000 -0.45 -194.7 305.0 -21.9 366 2002 0.52 0.00 0.00 0.000 6 0.145 0.000 2667 2067 3562

2312 -0.91 -194.7 325.3 -3.6 396 2314 0.38 0.00 0.00 0.000 6 0.042 0.000 2494 2067 3562

2621 -0.50 -194.7 383.7 -22.3 426 2625 0.50 2.22 0.00 0.000 4 0.143 0.060 2644 3467 3562

2658 -0.81 -194.7 389.2 -11.1 429 2665 0.20 2.12 0.00 0.000 6 0.039 0.037 2532 2079 3562

2973 -0.65 -194.7 440.5 -15.0 460 2975 0.25 0.00 0.00 0.000 6 0.131 0.000 2611 2075 3562

3285 -0.89 -194.7 457.8 -4.8 490 3286 0.22 0.00 0.00 0.000 6 0.053 0.000 2506 2075 3561

3596 -0.62 -194.7 500.8 -15.3 520 3600 0.32 2.20 0.00 0.000 4 0.138 0.054 2614 662 3558

3626 -0.75 -194.7 504.5 -10.3 521 3633 0.08 2.20 0.00 0.000 6 0.057 0.045 2559 2065 3558

3937 -0.83 -194.7 539.6 -11.4 537 3941 0.00 2.28 0.00 0.000 4 0.000 0.063 2551 3479 3556

4032 -0.94 -194.7 549.8 -10.7 541 4038 0.08 2.17 0.00 0.000 6 0.059 0.039 2494 2067 3555

4349 -0.73 -194.7 595.1 -13.8 557 4350 0.30 0.00 0.00 0.000 6 0.137 0.000 2588 2063 3552

4653 -0.95 -194.7 618.8 -7.1 572 4657 0.22 2.28 0.00 0.000 4 0.055 0.065 2482 3466 3550

4707 -0.77 -194.7 625.3 -13.5 574 4711 0.28 2.12 0.00 0.000 6 0.137 0.041 2567 2075 3548

5023 -0.91 -194.7 651.3 -8.0 590 5027 0.12 2.28 0.00 0.000 4 0.073 0.066 2506 3482 3546

5070 -0.84 -194.7 656.5 -11.8 592 5075 0.10 2.17 0.00 0.000 6 0.138 0.041 2542 2080 3546

5385 -0.84 -194.7 689.1 -10.9 608 5389 0.00 2.22 0.00 0.000 4 0.000 0.056 2542 675 3543

5417 -0.84 -194.7 692.9 -11.7 609 5421 0.00 2.22 0.00 0.000 6 0.000 0.048 2537 2076 3543

5733 -0.84 -194.7 724.6 -9.6 625 5734 0.00 0.00 0.00 0.000 6 0.000 0.000 2537 2076 3540

6038 -0.84 -194.7 752.5 -8.0 640 6039 0.00 0.00 0.00 0.000 6 0.000 0.000 2537 2076 3539

6344 -0.84 -194.7 777.5 -7.3 655 6347 0.00 2.25 0.00 0.000 4 0.000 0.070 2535 3480 3537

6434 -0.92 -194.7 784.2 -7.5 659 6438 0.00 2.17 0.00 0.000 6 0.000 0.044 2535 2091 3536

6755 -0.92 -194.7 814.5 -9.9 675 6756 0.00 0.00 0.00 0.000 6 0.000 0.000 2535 2091 3534

7060 -0.92 -194.7 846.9 -11.6 690 7061 0.00 0.00 0.00 0.000 6 0.000 0.000 2535 2090 3533

7365 -0.92 -194.7 883.0 -12.4 705 7366 0.00 0.00 0.00 0.000 6 0.000 0.000 2535 2089 3531

7670 -0.92 -194.7 924.0 -13.5 720 7671 0.00 0.00 0.00 0.000 6 0.000 0.000 2535 2088 3530

7692 end dive: BOTTOM_OBSTACLE_DETECTED

state 7692 begin apogee

7696 -0.20 0.0 926.7 13.5 721 7853 0.65 0.00 155.10 1.345 6 0.125 0.000 2753 2528 2758

7854 end apogee: CONTROL_FINISHED_OK

state 7854 begin climb

7855 0.96 194.7 936.0 0.0 729 8022 1.00 0.00 163.55 1.305 6 0.042 0.000 3135 2528 1964

8321 0.31 194.7 850.7 23.4 752 8325 0.73 1.92 0.00 0.000 4 0.177 0.069 2923 3699 1957

8363 0.31 194.7 843.6 14.6 754 8367 0.00 1.88 0.00 0.000 6 0.000 0.044 2931 2522 1957

8689 0.40 194.7 803.0 12.0 770 8693 0.00 2.28 0.00 0.000 4 0.000 0.055 2942 1122 1955

8721 0.51 194.7 799.3 12.3 771 8726 0.08 2.28 0.00 0.000 6 0.066 0.051 2990 2516 1955

9037 0.36 194.7 751.5 15.8 787 9041 0.20 1.90 0.00 0.000 4 0.153 0.067 2933 3687 1954

9089 0.36 194.7 743.9 14.4 789 9094 0.00 1.83 0.00 0.000 6 0.000 0.042 2941 2525 1954

9406 0.46 227.3 708.8 10.7 805 9434 0.00 0.00 27.15 1.189 6 0.000 0.000 2941 2522 1832

9730 0.53 227.3 669.4 13.1 821 9735 0.15 2.25 0.00 0.000 4 0.071 0.054 3016 1129 1827

9783 0.40 227.3 660.1 18.7 823 9788 0.20 2.28 0.00 0.000 6 0.151 0.051 2953 2524 1825

10099 0.47 229.2 619.4 11.9 839 10100 0.00 0.00 0.00 0.000 6 0.000 0.000 2953 2524 1825

10404 0.52 229.2 582.2 13.3 854 10409 0.00 1.90 0.00 0.000 4 0.000 0.067 2954 3691 1824

10516 0.52 229.2 566.7 13.9 859 10521 0.00 1.80 0.00 0.000 6 0.000 0.043 2961 2533 1824

10837 0.57 229.2 525.4 12.5 875 10839 0.12 0.00 0.00 0.000 6 0.076 0.000 3017 2528 1823

11146 0.38 229.2 476.2 15.2 897 11150 0.25 2.20 0.00 0.000 4 0.156 0.053 2954 1128 1823

11167 0.38 229.2 473.7 12.3 899 11170 0.00 2.25 0.00 0.000 6 0.000 0.051 2954 2531 1823

11488 0.56 284.4 441.3 9.7 930 11545 0.12 2.35 47.17 1.035 4 0.076 0.053 3020 1131 1598

11591 0.56 284.4 426.6 15.8 939 11598 0.00 2.30 0.00 0.000 6 0.000 0.049 3020 2517 1595

11908 0.45 284.4 376.2 15.9 970 11911 0.20 2.22 0.00 0.000 4 0.145 0.051 2971 1126 1592

11922 0.45 284.4 373.9 15.1 971 11929 0.00 2.28 0.00 0.000 6 0.000 0.048 2972 2527 1592

12239 0.61 311.0 339.1 10.9 1002 12266 0.12 1.92 22.50 0.940 4 0.074 0.064 3028 3686 1490

12309 0.47 311.0 327.9 18.1 1008 12316 0.17 1.83 0.00 0.000 6 0.142 0.041 2980 2531 1489

12628 0.62 311.0 286.9 12.5 1048 12634 0.12 2.28 0.00 0.000 4 0.071 0.051 3047 1124 1488

12692 0.56 311.0 277.1 14.8 1060 12699 0.12 2.25 0.00 0.000 6 0.144 0.047 3006 2517 1486

13018 0.64 311.0 237.7 13.3 1121 13025 0.00 2.22 0.00 0.000 4 0.000 0.050 3015 1127 1486

13055 0.75 311.0 232.4 15.1 1128 13062 0.10 2.22 0.00 0.000 6 0.057 0.046 3077 2517 1486

13382 0.57 311.0 174.9 14.7 1189 13388 0.25 0.00 0.00 0.000 6 0.150 0.000 3004 2517 1486

13707 0.77 330.9 146.6 11.2 1250 13734 0.17 2.28 17.33 0.767 4 0.061 0.049 3098 1116 1409

13850 0.69 330.9 120.2 18.5 1276 13857 0.17 2.25 0.00 0.000 6 0.143 0.045 3041 2523 1407

14178 0.91 373.6 89.7 10.2 1337 14218 0.17 1.92 35.08 0.723 4 0.057 0.058 3129 3690 1236

14457 0.83 373.6 45.2 13.2 1388 14464 0.15 1.75 0.00 0.000 6 0.133 0.038 3087 2548 1234

14784 1.10 427.9 15.8 9.8 1449 14835 0.22 2.28 44.17 0.647 4 0.052 0.047 3201 1126 1013

14860 0.93 427.9 3.7 16.7 1462 14869 0.25 2.28 0.00 0.000 6 0.143 0.041 3122 2541 1012

14871 end climb: SURFACE_DEPTH_REACHED

state 14871 begin surface coast

14888 end surface coast: CONTROL_FINISHED_OK

state 14888 begin surface

ID	165	HEADING	-1	PITCH_ADJ_DBAND	1	ALTIM_TOP_TURN_MARGIN	0
MISSION	2	ESCAPE_HEADING	0	ROLL_MIN	200	ALTIM_TOP_MIN_OBSTACLE	0
DIVE	111	ESCAPE_HEADING_DELTA	10	ROLL_MAX	3692	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	2071	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LON	-12218	C_ROLL_CLIMB	2525	ALTIM_PULSE	3
D_ABORT	1090	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
D_NO_BLEED	100	SM_CC	435	ROLL_CNV	0.028270001	XPDR_VALID	1
D_FINISH	0	N_FILEKB	4	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
D_PITCH	0	FILEMGR	0	R_PORT_OVSHOOT	34	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	37	INT_PRESSURE_YINT	0
D_CALL	0	COMM_SEQ	0	ROLL_AD_RATE	350	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	275	UPLOAD_DIVES_MAX	-1	VBD_MIN	485	DEVICE2	53
T_MISSION	330	CALL_TRIES	5	VBD_MAX	3959	DEVICE3	35
T_ABORT	1440	CALL_WAIT	60	C_VBD	2759	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	-119095.84	VBD_BLEED_AD_RATE	8	COMPASS2_DEVICE	-1
T_WATCHDOG	10	T_RSLEEP	2	UNCOM_BLEED	20	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	180	AH0_10V	100	SIM_W	0
GLIDE_SLOPE	30	PITCH_MAX	3922	PHONE_SUPPLY	2	SIM_PITCH	0
SPEED_FACTOR	1	C_PITCH	2819	PRESSURE_YINT	-19.66094	SEABIRD_T_G	0.0043383995
RHO	1.0273	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.000116182	SEABIRD_T_H	0.00062454981
MASS	52067	PITCH_CNV	0.003125763	AD7714Ch0Gain	128	SEABIRD_T_I	2.3067754e-05
NAV_MODE	2	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_T_J	2.3616824e-06
FERRY_MAX	45	PITCH_GAIN	25.5	TCM_ROLL_OFFSET	0	SEABIRD_C_G	-9.9113674
KALMAN_USE	2	PITCH_TIMEOUT	16	COMPASS_USE	0	SEABIRD_C_H	1.100266
HD_A	0.0038360001	PITCH_AD_RATE	175	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_I	0.0005534364
HD_B	0.010078	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	6.0498875e-05
HD_C	9.8500004e-06	PITCH_ADJ_GAIN	0.045000002	ALTIM_BOTTOM_TURN_MARGIN	25

GPS1	203225,2529.719,12252.893,40,1.1,40,-3.7	TGT_NAME	IN_3
_CALLS	1	TGT_LATLONG	2540.000,12250.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	2.01	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-72.9	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	203802,2529.780,12253.001,10,1.1,10,-3.7	MHEAD_RNG_PITCHd_Wd	343.6,19579,-18.3,-12.000
SPEED_LIMITS	0.208,0.315	D_GRID	974

FINISH	1.5,1.010958	ALTIM_BOTTOM_PING	926.7,21.0
SM_CCo	14901,5.32,0.489,0,0,984,435.16	_24V_AH	23.7,24.623
SM_GC	3.85,0.00,0.00,5.32,0.000,0.000,0.489,160,2056,984,-8.31,-0.42,435.16	_10V_AH	10.7,18.075
IRIDIUM_FIX	2517.50,12252.43,310898,161659	DATA_FILE_SIZE	82204,1467
TT8_MAMPS	0.048321	CAP_FILE_SIZE	153545,0
HUMID	1571	CFSIZE	260165632,249192448
INTERNAL_PRESSURE	8.83823	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	25.40	CURRENT	0.179,353.1,1
XPDR_PINGS	132	GPS	070609,004730,2533.368,12251.961,37,1.1,37,-3.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	28	226	152.56	SBE_CT	993	24	565.22
Roll_motor	104	69	173.52	Optode	1037	33	811.79
VBD_pump_during_apogee	512	1345	16326.22	WL_BB2F	1631	105	4059.02
VBD_pump_during_surface	5	488	61.66	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	29	103	72.33	nil	0	0	0.00
Iridium_during_connect	35	160	135.02	nil	0	0	0.00
Iridium_during_xfer	177	223	936.55
Transponder_ping	40	420	405.63
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	13	50	7.01
TT8	0	19	0.00
LPSleep	10844	2	254.11
TT8_Active	677	19	143.48
TT8_Sampling	3255	39	1386.49
TT8_CF8	442	45	216.93
TT8_Kalman	0	0	0.00
Analog_circuits	1863	12	239.22
GPS_charging	0	0	0.00
Compass	2754	8	235.74
RAFOS	0	0	0.00
Transponder	54	30	17.41

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	-0.96	-194.7	0.0	0.0	0	64	0.00	0.00	-50.30	0.000	2	0.000	0.000	167	2084	2091
66	-0.96	-194.7	3.3	-4.5	8	123	8.82	2.25	-40.28	0.000	4	0.226	0.066	2498	3473	3555
244	-0.22	-194.7	54.7	-36.2	40	251	0.75	2.17	0.00	0.000	6	0.156	0.035	2735	2063	3557
571	-0.62	-194.7	85.3	-5.7	101	577	0.30	0.00	0.00	0.000	6	0.043	0.000	2589	2058	3559
896	-0.34	-194.7	153.2	-21.4	162	904	0.38	0.00	0.00	0.000	6	0.133	0.000	2710	2058	3561
1223	-0.84	-194.7	173.1	-5.0	223	1230	0.43	2.22	0.00	0.000	4	0.038	0.056	2509	3476	3562
1245	-0.84	-194.7	175.3	-10.2	227	1252	0.08	2.15	0.00	0.000	6	0.150	0.035	2537	2063	3561
1571	-0.48	-194.7	231.2	-14.3	288	1578	0.40	2.15	0.00	0.000	4	0.141	0.050	2665	678	3562
1668	-0.89	-194.7	236.2	-3.8	306	1676	0.32	2.15	0.00	0.000	6	0.035	0.040	2500	2066	3562
2000	-0.45	-194.7	305.0	-21.9	366	2002	0.52	0.00	0.00	0.000	6	0.145	0.000	2667	2067	3562
2312	-0.91	-194.7	325.3	-3.6	396	2314	0.38	0.00	0.00	0.000	6	0.042	0.000	2494	2067	3562
2621	-0.50	-194.7	383.7	-22.3	426	2625	0.50	2.22	0.00	0.000	4	0.143	0.060	2644	3467	3562
2658	-0.81	-194.7	389.2	-11.1	429	2665	0.20	2.12	0.00	0.000	6	0.039	0.037	2532	2079	3562
2973	-0.65	-194.7	440.5	-15.0	460	2975	0.25	0.00	0.00	0.000	6	0.131	0.000	2611	2075	3562
3285	-0.89	-194.7	457.8	-4.8	490	3286	0.22	0.00	0.00	0.000	6	0.053	0.000	2506	2075	3561
3596	-0.62	-194.7	500.8	-15.3	520	3600	0.32	2.20	0.00	0.000	4	0.138	0.054	2614	662	3558
3626	-0.75	-194.7	504.5	-10.3	521	3633	0.08	2.20	0.00	0.000	6	0.057	0.045	2559	2065	3558
3937	-0.83	-194.7	539.6	-11.4	537	3941	0.00	2.28	0.00	0.000	4	0.000	0.063	2551	3479	3556
4032	-0.94	-194.7	549.8	-10.7	541	4038	0.08	2.17	0.00	0.000	6	0.059	0.039	2494	2067	3555
4349	-0.73	-194.7	595.1	-13.8	557	4350	0.30	0.00	0.00	0.000	6	0.137	0.000	2588	2063	3552
4653	-0.95	-194.7	618.8	-7.1	572	4657	0.22	2.28	0.00	0.000	4	0.055	0.065	2482	3466	3550
4707	-0.77	-194.7	625.3	-13.5	574	4711	0.28	2.12	0.00	0.000	6	0.137	0.041	2567	2075	3548
5023	-0.91	-194.7	651.3	-8.0	590	5027	0.12	2.28	0.00	0.000	4	0.073	0.066	2506	3482	3546
5070	-0.84	-194.7	656.5	-11.8	592	5075	0.10	2.17	0.00	0.000	6	0.138	0.041	2542	2080	3546
5385	-0.84	-194.7	689.1	-10.9	608	5389	0.00	2.22	0.00	0.000	4	0.000	0.056	2542	675	3543
5417	-0.84	-194.7	692.9	-11.7	609	5421	0.00	2.22	0.00	0.000	6	0.000	0.048	2537	2076	3543
5733	-0.84	-194.7	724.6	-9.6	625	5734	0.00	0.00	0.00	0.000	6	0.000	0.000	2537	2076	3540
6038	-0.84	-194.7	752.5	-8.0	640	6039	0.00	0.00	0.00	0.000	6	0.000	0.000	2537	2076	3539
6344	-0.84	-194.7	777.5	-7.3	655	6347	0.00	2.25	0.00	0.000	4	0.000	0.070	2535	3480	3537
6434	-0.92	-194.7	784.2	-7.5	659	6438	0.00	2.17	0.00	0.000	6	0.000	0.044	2535	2091	3536
6755	-0.92	-194.7	814.5	-9.9	675	6756	0.00	0.00	0.00	0.000	6	0.000	0.000	2535	2091	3534
7060	-0.92	-194.7	846.9	-11.6	690	7061	0.00	0.00	0.00	0.000	6	0.000	0.000	2535	2090	3533
7365	-0.92	-194.7	883.0	-12.4	705	7366	0.00	0.00	0.00	0.000	6	0.000	0.000	2535	2089	3531
7670	-0.92	-194.7	924.0	-13.5	720	7671	0.00	0.00	0.00	0.000	6	0.000	0.000	2535	2088	3530
7692	end dive: BOTTOM_OBSTACLE_DETECTED
state	7692	begin apogee
7696	-0.20	0.0	926.7	13.5	721	7853	0.65	0.00	155.10	1.345	6	0.125	0.000	2753	2528	2758
7854	end apogee: CONTROL_FINISHED_OK
state	7854	begin climb
7855	0.96	194.7	936.0	0.0	729	8022	1.00	0.00	163.55	1.305	6	0.042	0.000	3135	2528	1964
8321	0.31	194.7	850.7	23.4	752	8325	0.73	1.92	0.00	0.000	4	0.177	0.069	2923	3699	1957
8363	0.31	194.7	843.6	14.6	754	8367	0.00	1.88	0.00	0.000	6	0.000	0.044	2931	2522	1957
8689	0.40	194.7	803.0	12.0	770	8693	0.00	2.28	0.00	0.000	4	0.000	0.055	2942	1122	1955
8721	0.51	194.7	799.3	12.3	771	8726	0.08	2.28	0.00	0.000	6	0.066	0.051	2990	2516	1955
9037	0.36	194.7	751.5	15.8	787	9041	0.20	1.90	0.00	0.000	4	0.153	0.067	2933	3687	1954
9089	0.36	194.7	743.9	14.4	789	9094	0.00	1.83	0.00	0.000	6	0.000	0.042	2941	2525	1954
9406	0.46	227.3	708.8	10.7	805	9434	0.00	0.00	27.15	1.189	6	0.000	0.000	2941	2522	1832
9730	0.53	227.3	669.4	13.1	821	9735	0.15	2.25	0.00	0.000	4	0.071	0.054	3016	1129	1827
9783	0.40	227.3	660.1	18.7	823	9788	0.20	2.28	0.00	0.000	6	0.151	0.051	2953	2524	1825
10099	0.47	229.2	619.4	11.9	839	10100	0.00	0.00	0.00	0.000	6	0.000	0.000	2953	2524	1825
10404	0.52	229.2	582.2	13.3	854	10409	0.00	1.90	0.00	0.000	4	0.000	0.067	2954	3691	1824
10516	0.52	229.2	566.7	13.9	859	10521	0.00	1.80	0.00	0.000	6	0.000	0.043	2961	2533	1824
10837	0.57	229.2	525.4	12.5	875	10839	0.12	0.00	0.00	0.000	6	0.076	0.000	3017	2528	1823
11146	0.38	229.2	476.2	15.2	897	11150	0.25	2.20	0.00	0.000	4	0.156	0.053	2954	1128	1823
11167	0.38	229.2	473.7	12.3	899	11170	0.00	2.25	0.00	0.000	6	0.000	0.051	2954	2531	1823
11488	0.56	284.4	441.3	9.7	930	11545	0.12	2.35	47.17	1.035	4	0.076	0.053	3020	1131	1598
11591	0.56	284.4	426.6	15.8	939	11598	0.00	2.30	0.00	0.000	6	0.000	0.049	3020	2517	1595
11908	0.45	284.4	376.2	15.9	970	11911	0.20	2.22	0.00	0.000	4	0.145	0.051	2971	1126	1592
11922	0.45	284.4	373.9	15.1	971	11929	0.00	2.28	0.00	0.000	6	0.000	0.048	2972	2527	1592
12239	0.61	311.0	339.1	10.9	1002	12266	0.12	1.92	22.50	0.940	4	0.074	0.064	3028	3686	1490
12309	0.47	311.0	327.9	18.1	1008	12316	0.17	1.83	0.00	0.000	6	0.142	0.041	2980	2531	1489
12628	0.62	311.0	286.9	12.5	1048	12634	0.12	2.28	0.00	0.000	4	0.071	0.051	3047	1124	1488
12692	0.56	311.0	277.1	14.8	1060	12699	0.12	2.25	0.00	0.000	6	0.144	0.047	3006	2517	1486
13018	0.64	311.0	237.7	13.3	1121	13025	0.00	2.22	0.00	0.000	4	0.000	0.050	3015	1127	1486
13055	0.75	311.0	232.4	15.1	1128	13062	0.10	2.22	0.00	0.000	6	0.057	0.046	3077	2517	1486
13382	0.57	311.0	174.9	14.7	1189	13388	0.25	0.00	0.00	0.000	6	0.150	0.000	3004	2517	1486
13707	0.77	330.9	146.6	11.2	1250	13734	0.17	2.28	17.33	0.767	4	0.061	0.049	3098	1116	1409
13850	0.69	330.9	120.2	18.5	1276	13857	0.17	2.25	0.00	0.000	6	0.143	0.045	3041	2523	1407
14178	0.91	373.6	89.7	10.2	1337	14218	0.17	1.92	35.08	0.723	4	0.057	0.058	3129	3690	1236
14457	0.83	373.6	45.2	13.2	1388	14464	0.15	1.75	0.00	0.000	6	0.133	0.038	3087	2548	1234
14784	1.10	427.9	15.8	9.8	1449	14835	0.22	2.28	44.17	0.647	4	0.052	0.047	3201	1126	1013
14860	0.93	427.9	3.7	16.7	1462	14869	0.25	2.28	0.00	0.000	6	0.143	0.041	3122	2541	1012
14871	end climb: SURFACE_DEPTH_REACHED
state	14871	begin surface coast
14888	end surface coast: CONTROL_FINISHED_OK
state	14888	begin surface