Glider dive log

QPE May09 * SG167 * Dive index * Mission links * Dive 518 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 167 HEADING -1 PITCH_ADJ_DBAND 1 ALTIM_TOP_TURN_MARGIN 0

MISSION 2 ESCAPE_HEADING 0 ROLL_MIN 187 ALTIM_TOP_MIN_OBSTACLE 0

DIVE 518 ESCAPE_HEADING_DELTA 10 ROLL_MAX 3764 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 2383 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LON -12218 C_ROLL_CLIMB 2365 ALTIM_PULSE 3

D_ABORT 1090 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 2

D_NO_BLEED 100 SM_CC 475 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 74 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 41 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 250 UPLOAD_DIVES_MAX -1 VBD_MIN 389 DEVICE2 53

T_MISSION 300 CALL_TRIES 5 VBD_MAX 3987 DEVICE3 35

T_ABORT 1440 CALL_WAIT 60 C_VBD 3532 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 10 PITCH_VBD_SHIFT 0.0012300001 SMARTDEVICE1 -1

USE_ICE 0 N_GPS 20 VBD_PUMP_AD_RATE_SURFACE 5 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 -19325.184 VBD_BLEED_AD_RATE 8 COMPASS2_DEVICE -1

T_WATCHDOG 10 T_RSLEEP 5 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 125 RAFOS_HIT_WINDOW 3600 AH0_24V 150 XPDR_DEVICE 24

COURSE_BIAS 0 PITCH_MIN 134 AH0_10V 100 SIM_W 0

GLIDE_SLOPE 30 PITCH_MAX 3944 PHONE_SUPPLY 2 SIM_PITCH 0

SPEED_FACTOR 1 C_PITCH 2580 PRESSURE_YINT -14.600696 SEABIRD_T_G 0.0043387017

RHO 1.0273 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001158971 SEABIRD_T_H 0.00063414662

MASS 51932 PITCH_CNV 0.0031256729 AD7714Ch0Gain 128 SEABIRD_T_I 2.5692387e-05

NAV_MODE 2 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_T_J 2.8978091e-06

FERRY_MAX 45 PITCH_GAIN 18.5 TCM_ROLL_OFFSET 0 SEABIRD_C_G -9.8799791

KALMAN_USE 2 PITCH_TIMEOUT 16 COMPASS_USE 0 SEABIRD_C_H 1.1029794

HD_A 0.0038360001 PITCH_AD_RATE 175 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_I -0.0010948726

HD_B 0.010078 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.00016878155

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 0.0031256729 SMARTS 0

AH0_24V 150 D_NO_BLEED 100 PITCH_DBAND 0.1 SM_CC 475

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 1001 PITCH_GAIN 18.5 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 25 D_PITCH 0 PITCH_MAX 3944 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 134 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 0.0001158971 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 0 FERRY_MAX 45 PRESSURE_YINT -14.600696 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 250

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_GPS 10

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 -19325.184

CAPMAXSIZE 100000 HD_C 9.8500004e-06 RHO 1.0273 T_MISSION 300

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 5

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 167 ROLL_DEG 40 T_WATCHDOG 10

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3764 UNCOM_BLEED 20

COURSE_BIAS 0 INT_PRESSURE_YINT 0 ROLL_MAXERRORS 1 UPLOAD_DIVES_MAX -1

C_PITCH 2580 KALMAN_USE 2 ROLL_MIN 187 USE_BATHY -4

C_ROLL_CLIMB 2365 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 2383 MASS 51932 R_PORT_OVSHOOT 74 VBD_BLEED_AD_RATE 8

C_VBD 3532 MAX_BUOY 125 R_STBD_OVSHOOT 41 VBD_CNV -0.24529999

DEEPGLIDER 0 MISSION 2 SEABIRD_C_G -9.8799791 VBD_DBAND 2

DEEPGLIDERMB 0 MOTHERBOARD 4 SEABIRD_C_H 1.1029794 VBD_MAX 3987

DEVICE1 2 NAV_MODE 2 SEABIRD_C_I -0.0010948726 VBD_MAXERRORS 1

DEVICE2 53 N_FILEKB 4 SEABIRD_C_J 0.00016878155 VBD_MIN 389

DEVICE3 35 N_GPS 20 SEABIRD_T_G 0.0043387017 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE4 -1 N_NOCOMM 1 SEABIRD_T_H 0.00063414662 VBD_PUMP_AD_RATE_SURFACE 5

DEVICE5 -1 N_NOSURFACE 0 SEABIRD_T_I 2.5692387e-05 VBD_TIMEOUT 720

DEVICE6 -1 PHONE_DEVICE 48 SEABIRD_T_J 2.8978091e-06 XPDR_DEVICE 24

DIVE 518 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 133306,2451.904,12221.619,26,1.0,27,-3.5 TGT_NAME OFF_2

_CALLS 1 TGT_LATLONG 2445.100,12247.000

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.204,-0.158

_SM_DEPTHo 2.82 KALMAN_X 11863.0,1074.4,313.9,-12549.1,1366.5

_SM_ANGLEo -71.4 KALMAN_Y 11194.8,508.1,444.1,-2876.3,1519.9

GPS2 134008,2451.886,12221.789,17,1.2,17,-3.5 MHEAD_RNG_PITCHd_Wd 82.1,44224,-25.0,-13.200

SPEED_LIMITS 0.229,0.259 D_GRID 1079

Post-dive calculations and measurements:

FINISH 1.9,1.003599 _24V_AH 22.9,90.852

SM_CCo 13919,45.33,0.653,0,0,1595,475.15 _10V_AH 10.6,48.032

SM_GC 3.14,0.00,0.00,45.33,0.000,0.000,0.653,137,2389,1595,-7.64,0.17,475.15 DATA_FILE_SIZE 69510,1300

IRIDIUM_FIX 2444.18,12220.98,121198,090956 CAP_FILE_SIZE 141427,0

TT8_MAMPS 0.029146 CFSIZE 260165632,184463360

HUMID 1811 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 9.25817 CURRENT 0.279,174.6,1

TCM_TEMP 23.60 GPS 180809,173437,2449.952,12223.928,42,1.3,43,-3.5

XPDR_PINGS 3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 238 139.02 SBE_CT 883 24 485.77

Roll_motor 113 56 147.20 Optode 901 33 680.95

VBD_pump_during_apogee 446 1407 14374.80 WL_BB2F 0 105 0.00

VBD_pump_during_surface 45 653 678.28 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 29 103 70.25 nil 0 0 0.00

Iridium_during_connect 31 160 116.29 nil 0 0 0.00

Iridium_during_xfer 194 223 992.25

Transponder_ping 8 420 84.16

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 17 50 9.16

TT8 2280 19 478.63

LPSleep 8511 2 197.59

TT8_Active 587 19 123.25

TT8_Sampling 2309 39 974.20

TT8_CF8 688 45 334.09

TT8_Kalman 0 81 0.00

Analog_circuits 1766 12 224.68

GPS_charging 0 0 0.00

Compass 2254 8 191.21

RAFOS 0 0 0.00

Transponder 54 30 17.30

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

12 end surface: CONTROL_FINISHED_OK

state 12 begin dive

16 -1.50 -121.7 0.0 0.0 0 41 0.00 0.00 -23.15 0.000 2 0.000 0.000 138 2349 2154

45 -1.50 -121.7 3.2 -2.1 4 120 8.27 2.10 -60.67 0.000 4 0.239 0.040 2094 991 3989

374 -0.91 -121.7 79.9 -27.8 61 381 0.73 2.15 0.00 0.000 6 0.185 0.036 2279 2395 3992

720 -1.00 -121.7 139.3 -14.2 122 727 0.00 2.12 0.00 0.000 4 0.000 0.049 2275 3754 3995

933 -1.09 -121.7 167.5 -11.7 159 940 0.12 1.98 0.00 0.000 6 0.082 0.025 2222 2374 3996

1280 -0.96 -121.7 222.9 -16.6 220 1286 0.17 2.20 0.00 0.000 4 0.171 0.050 2273 3755 3996

1310 -0.96 -121.7 227.8 -14.9 225 1316 0.00 1.95 0.00 0.000 6 0.000 0.025 2273 2391 3996

1659 -1.09 -121.7 268.7 -12.0 286 1667 0.12 2.15 0.00 0.000 4 0.081 0.048 2214 3751 3996

1685 -1.09 -121.7 272.5 -14.1 290 1693 0.00 1.95 0.00 0.000 6 0.000 0.027 2215 2419 3996

2027 -1.02 -121.7 330.6 -16.6 336 2032 0.12 2.12 0.00 0.000 4 0.176 0.048 2236 3763 3996

2089 -1.02 -121.7 340.9 -17.0 341 2093 0.00 1.95 0.00 0.000 6 0.000 0.026 2236 2410 3996

2420 -1.02 -121.7 392.5 -14.6 372 2424 0.00 2.15 0.00 0.000 4 0.000 0.050 2231 3763 3995

2613 -1.02 -121.7 424.5 -14.9 389 2618 0.00 1.92 0.00 0.000 6 0.000 0.027 2231 2439 3995

2944 -1.02 -121.7 468.0 -12.7 420 2947 0.00 2.10 0.00 0.000 4 0.000 0.050 2222 3763 3994

2979 -1.02 -121.7 472.9 -14.3 423 2983 0.00 1.92 0.00 0.000 6 0.000 0.027 2222 2439 3993

3310 -1.02 -121.7 517.5 -13.4 448 3314 0.00 2.10 0.00 0.000 4 0.000 0.052 2221 3756 3992

3343 -1.02 -121.7 522.7 -14.1 449 3347 0.00 1.88 0.00 0.000 6 0.000 0.027 2221 2468 3992

3667 -1.02 -121.7 562.4 -12.9 465 3670 0.00 2.05 0.00 0.000 4 0.000 0.052 2218 3751 3990

3713 -1.02 -121.7 569.2 -14.7 467 3717 0.08 1.90 0.00 0.000 6 0.171 0.028 2251 2483 3990

4049 -1.19 -121.7 606.1 -10.7 483 4053 0.17 2.05 0.00 0.000 4 0.075 0.052 2173 3760 3987

4142 -1.01 -121.7 621.0 -17.2 487 4146 0.30 1.88 0.00 0.000 6 0.177 0.028 2252 2487 3987

4478 -1.19 -121.7 663.7 -13.4 503 4482 0.17 2.20 0.00 0.000 4 0.074 0.028 2186 1004 3985

4547 -1.19 -121.7 676.1 -19.0 506 4551 0.00 2.28 0.00 0.000 6 0.000 0.038 2179 2472 3985

4875 -1.10 -121.7 732.6 -17.2 522 4879 0.17 2.05 0.00 0.000 4 0.186 0.053 2218 3756 3983

4989 -1.10 -121.7 751.0 -17.4 527 4992 0.00 1.88 0.00 0.000 6 0.000 0.030 2219 2493 3982

5322 -1.18 -121.7 804.1 -15.6 543 5326 0.00 2.03 0.00 0.000 4 0.000 0.055 2218 3748 3981

5425 -1.25 -121.7 819.6 -14.6 547 5429 0.12 1.83 0.00 0.000 6 0.085 0.030 2171 2514 3980

5747 -1.15 -121.7 873.4 -16.2 563 5751 0.15 2.25 0.00 0.000 4 0.179 0.030 2206 1010 3978

5780 -1.21 -121.7 878.6 -14.0 564 5784 0.00 2.30 0.00 0.000 6 0.000 0.040 2206 2488 3978

6103 -1.26 -121.7 922.0 -13.8 580 6107 0.00 2.03 0.00 0.000 4 0.000 0.057 2206 3754 3976

6143 -1.26 -121.7 928.0 -14.2 581 6148 0.00 1.85 0.00 0.000 6 0.000 0.031 2206 2512 3975

6459 -1.35 -121.7 969.5 -13.1 597 6464 0.17 2.03 0.00 0.000 4 0.078 0.055 2139 3756 3974

6484 -1.26 -121.7 973.2 -15.8 598 6488 0.12 1.85 0.00 0.000 6 0.189 0.030 2167 2510 3974

6587 end dive: TARGET_DEPTH_EXCEEDED

state 6587 begin apogee

6595 -0.27 0.0 990.6 16.3 603 6694 1.15 0.00 95.22 1.407 6 0.173 0.000 2488 2386 3532

6694 end apogee: CONTROL_FINISHED_OK

state 6694 begin climb

6698 1.50 121.7 994.8 0.0 608 6813 1.62 2.40 105.90 1.364 4 0.064 0.050 3060 3759 3034

6875 0.66 121.7 992.3 14.8 616 6881 1.10 2.17 0.00 0.000 6 0.219 0.027 2801 2341 3032

7199 0.75 192.8 964.7 8.0 632 7264 0.00 2.22 59.90 1.342 4 0.000 0.035 2803 972 2745

7336 0.99 221.7 951.2 11.1 638 7368 0.28 2.20 26.17 1.290 6 0.065 0.036 2903 2367 2627

7697 0.88 221.7 890.4 17.8 655 7699 0.15 0.00 0.00 0.000 6 0.191 0.000 2866 2368 2621

8000 0.88 221.7 840.7 16.4 670 8001 0.00 0.00 0.00 0.000 6 0.000 0.000 2866 2368 2620

8309 0.88 221.7 791.8 15.1 685 8310 0.00 0.00 0.00 0.000 6 0.000 0.000 2866 2368 2619

8620 0.88 221.7 742.0 15.8 700 8623 0.00 2.22 0.00 0.000 4 0.000 0.053 2866 3764 2618

8704 0.75 221.7 726.7 17.8 703 8711 0.17 2.12 0.00 0.000 6 0.187 0.029 2829 2351 2617

9021 0.85 221.7 679.4 14.6 719 9025 0.00 2.28 0.00 0.000 4 0.000 0.054 2829 3757 2616

9221 0.85 221.7 645.9 19.0 727 9227 0.00 2.08 0.00 0.000 6 0.000 0.028 2829 2377 2616

9537 0.97 221.7 600.7 13.4 743 9542 0.17 2.12 0.00 0.000 4 0.079 0.032 2902 959 2615

9709 0.91 221.7 575.6 14.4 750 9717 0.00 2.17 0.00 0.000 6 0.000 0.036 2903 2378 2615

10026 0.82 221.7 526.1 16.3 766 10028 0.22 0.00 0.00 0.000 6 0.184 0.000 2843 2380 2615

10339 0.91 221.7 482.7 13.7 786 10343 0.00 2.20 0.00 0.000 4 0.000 0.053 2843 3759 2614

10453 0.91 221.7 464.3 16.1 796 10456 0.00 2.10 0.00 0.000 6 0.000 0.030 2852 2355 2614

10784 1.01 234.9 420.7 12.2 827 10800 0.15 2.12 9.80 0.970 4 0.081 0.034 2920 973 2574

10922 1.01 234.9 401.2 14.7 839 10926 0.00 2.17 0.00 0.000 6 0.000 0.038 2920 2374 2573

11257 0.91 234.9 351.3 15.9 870 11264 0.17 0.00 0.00 0.000 6 0.181 0.000 2875 2375 2572

11585 0.92 241.9 309.2 12.7 901 11594 0.00 0.00 7.03 0.843 6 0.000 0.000 2874 2375 2546

11927 0.99 254.5 265.5 12.3 956 11944 0.00 0.00 11.25 0.875 6 0.000 0.000 2875 2375 2496

12284 1.11 265.3 217.8 12.4 1019 12302 0.17 2.20 10.88 0.830 4 0.077 0.051 2947 3753 2449

12559 0.90 265.3 165.8 20.0 1067 12566 0.32 2.08 0.00 0.000 6 0.183 0.027 2871 2365 2447

12907 1.11 307.0 124.3 10.2 1128 12949 0.17 2.28 34.60 0.793 4 0.077 0.049 2944 3765 2279

12986 0.95 307.0 113.0 17.8 1141 12993 0.25 2.12 0.00 0.000 6 0.179 0.027 2889 2354 2277

13335 1.14 311.9 70.4 12.9 1202 13349 0.17 2.10 4.93 0.578 4 0.077 0.031 2973 978 2259

13423 1.14 311.9 54.9 19.0 1217 13429 0.00 2.15 0.00 0.000 6 0.000 0.035 2973 2373 2259

13769 1.34 414.2 11.2 5.8 1278 13857 0.12 2.17 80.32 0.675 4 0.082 0.031 3031 976 1841

13868 end climb: SURFACE_DEPTH_REACHED

state 13868 begin surface coast

13897 end surface coast: CONTROL_FINISHED_OK

state 13897 begin surface

ID	167	HEADING	-1	PITCH_ADJ_DBAND	1	ALTIM_TOP_TURN_MARGIN	0
MISSION	2	ESCAPE_HEADING	0	ROLL_MIN	187	ALTIM_TOP_MIN_OBSTACLE	0
DIVE	518	ESCAPE_HEADING_DELTA	10	ROLL_MAX	3764	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	2383	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LON	-12218	C_ROLL_CLIMB	2365	ALTIM_PULSE	3
D_ABORT	1090	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
D_NO_BLEED	100	SM_CC	475	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	74	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	41	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	250	UPLOAD_DIVES_MAX	-1	VBD_MIN	389	DEVICE2	53
T_MISSION	300	CALL_TRIES	5	VBD_MAX	3987	DEVICE3	35
T_ABORT	1440	CALL_WAIT	60	C_VBD	3532	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	10	PITCH_VBD_SHIFT	0.0012300001	SMARTDEVICE1	-1
USE_ICE	0	N_GPS	20	VBD_PUMP_AD_RATE_SURFACE	5	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	-19325.184	VBD_BLEED_AD_RATE	8	COMPASS2_DEVICE	-1
T_WATCHDOG	10	T_RSLEEP	5	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	125	RAFOS_HIT_WINDOW	3600	AH0_24V	150	XPDR_DEVICE	24
COURSE_BIAS	0	PITCH_MIN	134	AH0_10V	100	SIM_W	0
GLIDE_SLOPE	30	PITCH_MAX	3944	PHONE_SUPPLY	2	SIM_PITCH	0
SPEED_FACTOR	1	C_PITCH	2580	PRESSURE_YINT	-14.600696	SEABIRD_T_G	0.0043387017
RHO	1.0273	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001158971	SEABIRD_T_H	0.00063414662
MASS	51932	PITCH_CNV	0.0031256729	AD7714Ch0Gain	128	SEABIRD_T_I	2.5692387e-05
NAV_MODE	2	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_T_J	2.8978091e-06
FERRY_MAX	45	PITCH_GAIN	18.5	TCM_ROLL_OFFSET	0	SEABIRD_C_G	-9.8799791
KALMAN_USE	2	PITCH_TIMEOUT	16	COMPASS_USE	0	SEABIRD_C_H	1.1029794
HD_A	0.0038360001	PITCH_AD_RATE	175	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_I	-0.0010948726
HD_B	0.010078	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.00016878155
HD_C	9.8500004e-06	PITCH_ADJ_GAIN	0.045000002	ALTIM_BOTTOM_TURN_MARGIN	25

GPS1	133306,2451.904,12221.619,26,1.0,27,-3.5	TGT_NAME	OFF_2
_CALLS	1	TGT_LATLONG	2445.100,12247.000
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.204,-0.158
_SM_DEPTHo	2.82	KALMAN_X	11863.0,1074.4,313.9,-12549.1,1366.5
_SM_ANGLEo	-71.4	KALMAN_Y	11194.8,508.1,444.1,-2876.3,1519.9
GPS2	134008,2451.886,12221.789,17,1.2,17,-3.5	MHEAD_RNG_PITCHd_Wd	82.1,44224,-25.0,-13.200
SPEED_LIMITS	0.229,0.259	D_GRID	1079

FINISH	1.9,1.003599	_24V_AH	22.9,90.852
SM_CCo	13919,45.33,0.653,0,0,1595,475.15	_10V_AH	10.6,48.032
SM_GC	3.14,0.00,0.00,45.33,0.000,0.000,0.653,137,2389,1595,-7.64,0.17,475.15	DATA_FILE_SIZE	69510,1300
IRIDIUM_FIX	2444.18,12220.98,121198,090956	CAP_FILE_SIZE	141427,0
TT8_MAMPS	0.029146	CFSIZE	260165632,184463360
HUMID	1811	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	9.25817	CURRENT	0.279,174.6,1
TCM_TEMP	23.60	GPS	180809,173437,2449.952,12223.928,42,1.3,43,-3.5
XPDR_PINGS	3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	238	139.02	SBE_CT	883	24	485.77
Roll_motor	113	56	147.20	Optode	901	33	680.95
VBD_pump_during_apogee	446	1407	14374.80	WL_BB2F	0	105	0.00
VBD_pump_during_surface	45	653	678.28	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	29	103	70.25	nil	0	0	0.00
Iridium_during_connect	31	160	116.29	nil	0	0	0.00
Iridium_during_xfer	194	223	992.25
Transponder_ping	8	420	84.16
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	17	50	9.16
TT8	2280	19	478.63
LPSleep	8511	2	197.59
TT8_Active	587	19	123.25
TT8_Sampling	2309	39	974.20
TT8_CF8	688	45	334.09
TT8_Kalman	0	81	0.00
Analog_circuits	1766	12	224.68
GPS_charging	0	0	0.00
Compass	2254	8	191.21
RAFOS	0	0	0.00
Transponder	54	30	17.30

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
12	end surface: CONTROL_FINISHED_OK
state	12	begin dive
16	-1.50	-121.7	0.0	0.0	0	41	0.00	0.00	-23.15	0.000	2	0.000	0.000	138	2349	2154
45	-1.50	-121.7	3.2	-2.1	4	120	8.27	2.10	-60.67	0.000	4	0.239	0.040	2094	991	3989
374	-0.91	-121.7	79.9	-27.8	61	381	0.73	2.15	0.00	0.000	6	0.185	0.036	2279	2395	3992
720	-1.00	-121.7	139.3	-14.2	122	727	0.00	2.12	0.00	0.000	4	0.000	0.049	2275	3754	3995
933	-1.09	-121.7	167.5	-11.7	159	940	0.12	1.98	0.00	0.000	6	0.082	0.025	2222	2374	3996
1280	-0.96	-121.7	222.9	-16.6	220	1286	0.17	2.20	0.00	0.000	4	0.171	0.050	2273	3755	3996
1310	-0.96	-121.7	227.8	-14.9	225	1316	0.00	1.95	0.00	0.000	6	0.000	0.025	2273	2391	3996
1659	-1.09	-121.7	268.7	-12.0	286	1667	0.12	2.15	0.00	0.000	4	0.081	0.048	2214	3751	3996
1685	-1.09	-121.7	272.5	-14.1	290	1693	0.00	1.95	0.00	0.000	6	0.000	0.027	2215	2419	3996
2027	-1.02	-121.7	330.6	-16.6	336	2032	0.12	2.12	0.00	0.000	4	0.176	0.048	2236	3763	3996
2089	-1.02	-121.7	340.9	-17.0	341	2093	0.00	1.95	0.00	0.000	6	0.000	0.026	2236	2410	3996
2420	-1.02	-121.7	392.5	-14.6	372	2424	0.00	2.15	0.00	0.000	4	0.000	0.050	2231	3763	3995
2613	-1.02	-121.7	424.5	-14.9	389	2618	0.00	1.92	0.00	0.000	6	0.000	0.027	2231	2439	3995
2944	-1.02	-121.7	468.0	-12.7	420	2947	0.00	2.10	0.00	0.000	4	0.000	0.050	2222	3763	3994
2979	-1.02	-121.7	472.9	-14.3	423	2983	0.00	1.92	0.00	0.000	6	0.000	0.027	2222	2439	3993
3310	-1.02	-121.7	517.5	-13.4	448	3314	0.00	2.10	0.00	0.000	4	0.000	0.052	2221	3756	3992
3343	-1.02	-121.7	522.7	-14.1	449	3347	0.00	1.88	0.00	0.000	6	0.000	0.027	2221	2468	3992
3667	-1.02	-121.7	562.4	-12.9	465	3670	0.00	2.05	0.00	0.000	4	0.000	0.052	2218	3751	3990
3713	-1.02	-121.7	569.2	-14.7	467	3717	0.08	1.90	0.00	0.000	6	0.171	0.028	2251	2483	3990
4049	-1.19	-121.7	606.1	-10.7	483	4053	0.17	2.05	0.00	0.000	4	0.075	0.052	2173	3760	3987
4142	-1.01	-121.7	621.0	-17.2	487	4146	0.30	1.88	0.00	0.000	6	0.177	0.028	2252	2487	3987
4478	-1.19	-121.7	663.7	-13.4	503	4482	0.17	2.20	0.00	0.000	4	0.074	0.028	2186	1004	3985
4547	-1.19	-121.7	676.1	-19.0	506	4551	0.00	2.28	0.00	0.000	6	0.000	0.038	2179	2472	3985
4875	-1.10	-121.7	732.6	-17.2	522	4879	0.17	2.05	0.00	0.000	4	0.186	0.053	2218	3756	3983
4989	-1.10	-121.7	751.0	-17.4	527	4992	0.00	1.88	0.00	0.000	6	0.000	0.030	2219	2493	3982
5322	-1.18	-121.7	804.1	-15.6	543	5326	0.00	2.03	0.00	0.000	4	0.000	0.055	2218	3748	3981
5425	-1.25	-121.7	819.6	-14.6	547	5429	0.12	1.83	0.00	0.000	6	0.085	0.030	2171	2514	3980
5747	-1.15	-121.7	873.4	-16.2	563	5751	0.15	2.25	0.00	0.000	4	0.179	0.030	2206	1010	3978
5780	-1.21	-121.7	878.6	-14.0	564	5784	0.00	2.30	0.00	0.000	6	0.000	0.040	2206	2488	3978
6103	-1.26	-121.7	922.0	-13.8	580	6107	0.00	2.03	0.00	0.000	4	0.000	0.057	2206	3754	3976
6143	-1.26	-121.7	928.0	-14.2	581	6148	0.00	1.85	0.00	0.000	6	0.000	0.031	2206	2512	3975
6459	-1.35	-121.7	969.5	-13.1	597	6464	0.17	2.03	0.00	0.000	4	0.078	0.055	2139	3756	3974
6484	-1.26	-121.7	973.2	-15.8	598	6488	0.12	1.85	0.00	0.000	6	0.189	0.030	2167	2510	3974
6587	end dive: TARGET_DEPTH_EXCEEDED
state	6587	begin apogee
6595	-0.27	0.0	990.6	16.3	603	6694	1.15	0.00	95.22	1.407	6	0.173	0.000	2488	2386	3532
6694	end apogee: CONTROL_FINISHED_OK
state	6694	begin climb
6698	1.50	121.7	994.8	0.0	608	6813	1.62	2.40	105.90	1.364	4	0.064	0.050	3060	3759	3034
6875	0.66	121.7	992.3	14.8	616	6881	1.10	2.17	0.00	0.000	6	0.219	0.027	2801	2341	3032
7199	0.75	192.8	964.7	8.0	632	7264	0.00	2.22	59.90	1.342	4	0.000	0.035	2803	972	2745
7336	0.99	221.7	951.2	11.1	638	7368	0.28	2.20	26.17	1.290	6	0.065	0.036	2903	2367	2627
7697	0.88	221.7	890.4	17.8	655	7699	0.15	0.00	0.00	0.000	6	0.191	0.000	2866	2368	2621
8000	0.88	221.7	840.7	16.4	670	8001	0.00	0.00	0.00	0.000	6	0.000	0.000	2866	2368	2620
8309	0.88	221.7	791.8	15.1	685	8310	0.00	0.00	0.00	0.000	6	0.000	0.000	2866	2368	2619
8620	0.88	221.7	742.0	15.8	700	8623	0.00	2.22	0.00	0.000	4	0.000	0.053	2866	3764	2618
8704	0.75	221.7	726.7	17.8	703	8711	0.17	2.12	0.00	0.000	6	0.187	0.029	2829	2351	2617
9021	0.85	221.7	679.4	14.6	719	9025	0.00	2.28	0.00	0.000	4	0.000	0.054	2829	3757	2616
9221	0.85	221.7	645.9	19.0	727	9227	0.00	2.08	0.00	0.000	6	0.000	0.028	2829	2377	2616
9537	0.97	221.7	600.7	13.4	743	9542	0.17	2.12	0.00	0.000	4	0.079	0.032	2902	959	2615
9709	0.91	221.7	575.6	14.4	750	9717	0.00	2.17	0.00	0.000	6	0.000	0.036	2903	2378	2615
10026	0.82	221.7	526.1	16.3	766	10028	0.22	0.00	0.00	0.000	6	0.184	0.000	2843	2380	2615
10339	0.91	221.7	482.7	13.7	786	10343	0.00	2.20	0.00	0.000	4	0.000	0.053	2843	3759	2614
10453	0.91	221.7	464.3	16.1	796	10456	0.00	2.10	0.00	0.000	6	0.000	0.030	2852	2355	2614
10784	1.01	234.9	420.7	12.2	827	10800	0.15	2.12	9.80	0.970	4	0.081	0.034	2920	973	2574
10922	1.01	234.9	401.2	14.7	839	10926	0.00	2.17	0.00	0.000	6	0.000	0.038	2920	2374	2573
11257	0.91	234.9	351.3	15.9	870	11264	0.17	0.00	0.00	0.000	6	0.181	0.000	2875	2375	2572
11585	0.92	241.9	309.2	12.7	901	11594	0.00	0.00	7.03	0.843	6	0.000	0.000	2874	2375	2546
11927	0.99	254.5	265.5	12.3	956	11944	0.00	0.00	11.25	0.875	6	0.000	0.000	2875	2375	2496
12284	1.11	265.3	217.8	12.4	1019	12302	0.17	2.20	10.88	0.830	4	0.077	0.051	2947	3753	2449
12559	0.90	265.3	165.8	20.0	1067	12566	0.32	2.08	0.00	0.000	6	0.183	0.027	2871	2365	2447
12907	1.11	307.0	124.3	10.2	1128	12949	0.17	2.28	34.60	0.793	4	0.077	0.049	2944	3765	2279
12986	0.95	307.0	113.0	17.8	1141	12993	0.25	2.12	0.00	0.000	6	0.179	0.027	2889	2354	2277
13335	1.14	311.9	70.4	12.9	1202	13349	0.17	2.10	4.93	0.578	4	0.077	0.031	2973	978	2259
13423	1.14	311.9	54.9	19.0	1217	13429	0.00	2.15	0.00	0.000	6	0.000	0.035	2973	2373	2259
13769	1.34	414.2	11.2	5.8	1278	13857	0.12	2.17	80.32	0.675	4	0.082	0.031	3031	976	1841
13868	end climb: SURFACE_DEPTH_REACHED
state	13868	begin surface coast
13897	end surface coast: CONTROL_FINISHED_OK
state	13897	begin surface