Glider dive log

QPE May09 * SG167 * Dive index * Mission links * Dive 519 * 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 519 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 70 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 36 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 -19340.404 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 -19340.404

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 70 VBD_BLEED_AD_RATE 8

C_VBD 3532 MAX_BUOY 125 R_STBD_OVSHOOT 36 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 519 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 173437,2449.952,12223.928,42,1.3,43,-3.5 TGT_NAME OFF_2

_CALLS 2 TGT_LATLONG 2445.100,12247.000

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.204,-0.158

_SM_DEPTHo 2.79 KALMAN_X 11863.0,1074.4,313.9,-12549.1,1366.5

_SM_ANGLEo -71.0 KALMAN_Y 11194.8,508.1,444.1,-2876.3,1519.9

GPS2 174426,2449.603,12223.888,14,1.5,14,-3.5 MHEAD_RNG_PITCHd_Wd 60.6,39756,-25.0,-13.200

SPEED_LIMITS 0.229,0.259 D_GRID 1129

Post-dive calculations and measurements:

FINISH 1.9,0.999731 _24V_AH 22.9,91.030

SM_CCo 13918,97.55,0.669,0,0,1595,475.15 _10V_AH 10.6,48.116

SM_GC 2.71,0.00,0.00,97.55,0.000,0.000,0.669,137,2392,1595,-7.64,0.25,475.15 DATA_FILE_SIZE 69559,1299

IRIDIUM_FIX 2439.44,12221.72,121198,171705 CAP_FILE_SIZE 150620,0

TT8_MAMPS 0.029146 CFSIZE 260165632,184377344

HUMID 1775 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 9.22887 CURRENT 0.113,144.9,1

TCM_TEMP 23.50 GPS 180809,213937,2449.759,12226.387,32,1.2,33,-3.5

XPDR_PINGS 6

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 28 238 156.64 SBE_CT 884 24 485.97

Roll_motor 122 55 155.45 Optode 918 33 694.10

VBD_pump_during_apogee 392 1402 12617.46 WL_BB2F 0 105 0.00

VBD_pump_during_surface 97 668 1494.08 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 49 103 117.73 nil 0 0 0.00

Iridium_during_connect 65 160 238.26 nil 0 0 0.00

Iridium_during_xfer 243 223 1241.44

Transponder_ping 9 420 91.37

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 14 50 7.73

TT8 2322 19 487.54

LPSleep 8561 2 198.75

TT8_Active 631 19 132.58

TT8_Sampling 2277 39 961.03

TT8_CF8 803 45 389.97

TT8_Kalman 0 81 0.00

Analog_circuits 1790 12 227.75

GPS_charging 0 0 0.00

Compass 2225 8 188.69

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 13 begin dive

16 -1.50 -121.7 0.0 0.0 0 46 0.00 0.00 -27.75 0.000 2 0.000 0.000 137 2389 2259

50 -1.50 -121.7 3.1 -1.2 4 127 8.30 2.22 -59.72 0.000 4 0.239 0.055 2086 3770 3990

140 -0.62 -121.7 14.8 -35.3 19 149 1.10 2.05 0.00 0.000 6 0.199 0.024 2371 2364 3991

489 -0.99 -121.7 61.3 -10.4 80 496 0.28 2.22 0.00 0.000 4 0.059 0.049 2246 3762 3993

539 -0.84 -121.7 69.2 -19.2 88 545 0.22 1.95 0.00 0.000 6 0.166 0.025 2307 2416 3993

884 -0.98 -121.7 120.3 -12.0 149 890 0.12 0.00 0.00 0.000 6 0.074 0.000 2256 2416 3995

1229 -0.98 -121.7 169.8 -16.1 210 1235 0.00 2.12 0.00 0.000 4 0.000 0.048 2246 3764 3996

1273 -0.88 -121.7 176.9 -17.6 217 1280 0.17 1.98 0.00 0.000 6 0.163 0.025 2292 2394 3996

1622 -1.05 -121.7 227.7 -14.7 278 1629 0.15 2.15 0.00 0.000 4 0.074 0.048 2222 3755 3996

1698 -0.93 -121.7 241.4 -18.4 291 1706 0.20 1.92 0.00 0.000 6 0.168 0.027 2274 2426 3996

2046 -1.08 -121.7 294.1 -14.2 352 2053 0.12 2.12 0.00 0.000 4 0.080 0.050 2220 3766 3996

2139 -0.98 -121.7 310.0 -17.8 363 2143 0.15 1.92 0.00 0.000 6 0.166 0.027 2259 2437 3996

2469 -1.09 -121.7 356.4 -13.5 394 2471 0.00 0.00 0.00 0.000 6 0.000 0.000 2259 2437 3996

2792 -1.19 -121.7 399.7 -13.7 424 2798 0.17 2.12 0.00 0.000 4 0.070 0.052 2188 3767 3995

2816 -1.14 -121.7 404.1 -15.2 426 2820 0.00 1.92 0.00 0.000 6 0.000 0.028 2188 2440 3995

3149 -1.03 -121.7 463.5 -17.3 457 3151 0.20 0.00 0.00 0.000 6 0.171 0.000 2241 2437 3994

3468 -1.15 -121.7 505.4 -12.4 485 3471 0.00 2.10 0.00 0.000 4 0.000 0.052 2233 3755 3993

3576 -1.22 -121.7 519.7 -13.9 489 3582 0.12 1.95 0.00 0.000 6 0.084 0.030 2182 2430 3993

3892 -1.09 -121.7 573.2 -18.1 505 3897 0.17 2.15 0.00 0.000 4 0.172 0.028 2232 979 3991

3937 -1.22 -121.7 580.3 -14.6 507 3942 0.15 2.22 0.00 0.000 6 0.080 0.038 2178 2425 3991

4268 -1.13 -121.7 638.4 -17.9 523 4272 0.15 2.12 0.00 0.000 4 0.190 0.052 2205 3761 3989

4308 -1.07 -121.7 646.2 -17.5 525 4312 0.12 1.95 0.00 0.000 6 0.179 0.028 2234 2434 3988

4645 -1.21 -121.7 691.3 -12.9 541 4649 0.12 2.15 0.00 0.000 4 0.084 0.053 2179 3767 3987

4792 -1.07 -121.7 717.2 -18.3 547 4797 0.20 1.98 0.00 0.000 6 0.176 0.030 2230 2434 3985

5116 -1.20 -121.7 763.9 -14.8 563 5120 0.12 2.15 0.00 0.000 4 0.082 0.054 2179 3766 3983

5183 -1.07 -121.7 776.6 -19.7 566 5187 0.20 1.95 0.00 0.000 6 0.176 0.028 2230 2464 3982

5511 -1.21 -121.7 828.8 -15.9 582 5516 0.12 2.10 0.00 0.000 4 0.084 0.054 2179 3764 3980

5612 -1.09 -121.7 848.7 -20.3 586 5618 0.17 1.90 0.00 0.000 6 0.177 0.029 2222 2473 3980

5930 -1.21 -121.7 896.9 -14.4 602 5931 0.00 0.00 0.00 0.000 6 0.000 0.000 2222 2473 3978

6238 -1.33 -121.7 941.9 -14.0 617 6242 0.17 2.08 0.00 0.000 4 0.075 0.053 2149 3754 3976

6312 -1.11 -121.7 955.5 -20.6 620 6316 0.28 1.88 0.00 0.000 6 0.183 0.031 2220 2498 3976

6554 end dive: TARGET_DEPTH_EXCEEDED

state 6554 begin apogee

6561 -0.27 0.0 992.2 13.8 632 6660 0.90 0.00 95.53 1.402 6 0.156 0.000 2483 2376 3532

6661 end apogee: CONTROL_FINISHED_OK

state 6661 begin climb

6664 1.50 121.7 997.8 0.0 637 6780 1.65 2.42 105.88 1.365 4 0.066 0.051 3059 3763 3034

6848 0.66 121.7 997.9 13.7 645 6854 1.10 2.17 0.00 0.000 6 0.220 0.027 2800 2343 3032

7165 0.77 209.5 975.6 6.8 660 7245 0.00 0.00 74.55 1.349 6 0.000 0.000 2800 2340 2677

7556 0.97 241.0 936.8 10.9 679 7589 0.22 2.35 27.33 1.298 4 0.072 0.054 2890 3756 2548

7623 0.79 241.0 926.0 18.5 682 7628 0.25 2.12 0.00 0.000 6 0.186 0.028 2836 2378 2546

7946 0.89 241.0 879.5 14.0 698 7947 0.00 0.00 0.00 0.000 6 0.000 0.000 2836 2376 2543

8254 0.98 241.0 835.0 14.7 713 8259 0.17 2.25 0.00 0.000 4 0.080 0.054 2900 3766 2541

8398 0.77 241.0 807.7 20.4 719 8403 0.30 2.10 0.00 0.000 6 0.187 0.028 2831 2372 2540

8715 0.90 248.2 764.9 12.7 734 8725 0.12 2.22 5.68 0.992 4 0.087 0.053 2879 3756 2522

8749 0.80 248.2 759.8 15.8 735 8757 0.20 2.10 0.00 0.000 6 0.189 0.029 2836 2358 2520

9067 0.93 258.5 720.5 12.5 751 9083 0.12 2.28 10.70 1.135 4 0.088 0.054 2882 3758 2478

9200 0.81 258.5 698.8 17.3 756 9205 0.17 2.08 0.00 0.000 6 0.189 0.030 2842 2396 2476

9534 0.92 258.5 650.7 14.4 772 9539 0.10 2.20 0.00 0.000 4 0.094 0.053 2879 3755 2475

9568 0.83 258.5 644.3 18.5 773 9573 0.15 2.08 0.00 0.000 6 0.191 0.030 2848 2381 2474

9887 0.93 258.5 593.9 16.1 788 9890 0.00 2.15 0.00 0.000 4 0.000 0.037 2858 958 2475

10081 1.06 258.5 564.0 15.5 796 10086 0.17 2.22 0.00 0.000 6 0.081 0.036 2925 2401 2474

10398 0.95 258.5 507.4 16.4 811 10403 0.15 2.20 0.00 0.000 4 0.186 0.031 2896 956 2474

10427 0.95 258.5 502.8 15.8 812 10431 0.00 2.22 0.00 0.000 6 0.000 0.036 2896 2401 2474

10756 0.95 258.5 458.2 14.0 841 10759 0.00 2.15 0.00 0.000 4 0.000 0.055 2896 3754 2473

10803 0.80 258.5 450.3 17.4 845 10808 0.25 2.08 0.00 0.000 6 0.183 0.029 2841 2361 2473

11132 0.99 277.1 411.1 11.8 875 11156 0.17 2.10 16.35 1.005 4 0.077 0.035 2914 980 2402

11192 0.99 277.1 402.4 14.9 880 11196 0.00 2.20 0.00 0.000 6 0.000 0.037 2914 2398 2400

11519 0.99 277.1 347.1 17.6 910 11523 0.00 2.17 0.00 0.000 4 0.000 0.052 2914 3764 2399

11567 0.83 277.1 337.8 20.1 914 11572 0.28 2.05 0.00 0.000 6 0.185 0.028 2851 2389 2399

11898 1.02 296.6 290.3 11.8 950 11923 0.17 2.15 17.42 0.920 4 0.075 0.035 2930 974 2321

11997 1.02 296.6 276.6 15.5 967 12004 0.00 2.22 0.00 0.000 6 0.000 0.037 2930 2407 2320

12345 0.97 296.6 221.0 14.7 1028 12351 0.15 2.17 0.00 0.000 4 0.179 0.053 2893 3765 2318

12512 0.97 296.6 193.8 15.8 1057 12518 0.00 2.03 0.00 0.000 6 0.000 0.028 2894 2411 2318

12858 1.08 296.6 143.6 14.7 1118 12864 0.10 2.17 0.00 0.000 4 0.094 0.031 2942 953 2317

12912 1.13 296.6 135.2 15.4 1127 12919 0.00 2.22 0.00 0.000 6 0.000 0.035 2942 2404 2317

13260 1.08 296.6 81.5 15.0 1188 13266 0.00 2.15 0.00 0.000 4 0.000 0.054 2942 3760 2317

13346 0.96 296.6 67.7 15.2 1203 13354 0.22 2.05 0.00 0.000 6 0.181 0.027 2893 2359 2317

13695 1.24 346.3 25.2 9.6 1264 13743 0.20 2.08 39.55 0.696 4 0.072 0.031 2988 976 2120

13872 end climb: SURFACE_DEPTH_REACHED

state 13872 begin surface coast

13895 end surface coast: CONTROL_FINISHED_OK

state 13895 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	519	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	70	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	36	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	-19340.404	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	173437,2449.952,12223.928,42,1.3,43,-3.5	TGT_NAME	OFF_2
_CALLS	2	TGT_LATLONG	2445.100,12247.000
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.204,-0.158
_SM_DEPTHo	2.79	KALMAN_X	11863.0,1074.4,313.9,-12549.1,1366.5
_SM_ANGLEo	-71.0	KALMAN_Y	11194.8,508.1,444.1,-2876.3,1519.9
GPS2	174426,2449.603,12223.888,14,1.5,14,-3.5	MHEAD_RNG_PITCHd_Wd	60.6,39756,-25.0,-13.200
SPEED_LIMITS	0.229,0.259	D_GRID	1129

FINISH	1.9,0.999731	_24V_AH	22.9,91.030
SM_CCo	13918,97.55,0.669,0,0,1595,475.15	_10V_AH	10.6,48.116
SM_GC	2.71,0.00,0.00,97.55,0.000,0.000,0.669,137,2392,1595,-7.64,0.25,475.15	DATA_FILE_SIZE	69559,1299
IRIDIUM_FIX	2439.44,12221.72,121198,171705	CAP_FILE_SIZE	150620,0
TT8_MAMPS	0.029146	CFSIZE	260165632,184377344
HUMID	1775	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	9.22887	CURRENT	0.113,144.9,1
TCM_TEMP	23.50	GPS	180809,213937,2449.759,12226.387,32,1.2,33,-3.5
XPDR_PINGS	6

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	28	238	156.64	SBE_CT	884	24	485.97
Roll_motor	122	55	155.45	Optode	918	33	694.10
VBD_pump_during_apogee	392	1402	12617.46	WL_BB2F	0	105	0.00
VBD_pump_during_surface	97	668	1494.08	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	49	103	117.73	nil	0	0	0.00
Iridium_during_connect	65	160	238.26	nil	0	0	0.00
Iridium_during_xfer	243	223	1241.44
Transponder_ping	9	420	91.37
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	14	50	7.73
TT8	2322	19	487.54
LPSleep	8561	2	198.75
TT8_Active	631	19	132.58
TT8_Sampling	2277	39	961.03
TT8_CF8	803	45	389.97
TT8_Kalman	0	81	0.00
Analog_circuits	1790	12	227.75
GPS_charging	0	0	0.00
Compass	2225	8	188.69
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	13	begin dive
16	-1.50	-121.7	0.0	0.0	0	46	0.00	0.00	-27.75	0.000	2	0.000	0.000	137	2389	2259
50	-1.50	-121.7	3.1	-1.2	4	127	8.30	2.22	-59.72	0.000	4	0.239	0.055	2086	3770	3990
140	-0.62	-121.7	14.8	-35.3	19	149	1.10	2.05	0.00	0.000	6	0.199	0.024	2371	2364	3991
489	-0.99	-121.7	61.3	-10.4	80	496	0.28	2.22	0.00	0.000	4	0.059	0.049	2246	3762	3993
539	-0.84	-121.7	69.2	-19.2	88	545	0.22	1.95	0.00	0.000	6	0.166	0.025	2307	2416	3993
884	-0.98	-121.7	120.3	-12.0	149	890	0.12	0.00	0.00	0.000	6	0.074	0.000	2256	2416	3995
1229	-0.98	-121.7	169.8	-16.1	210	1235	0.00	2.12	0.00	0.000	4	0.000	0.048	2246	3764	3996
1273	-0.88	-121.7	176.9	-17.6	217	1280	0.17	1.98	0.00	0.000	6	0.163	0.025	2292	2394	3996
1622	-1.05	-121.7	227.7	-14.7	278	1629	0.15	2.15	0.00	0.000	4	0.074	0.048	2222	3755	3996
1698	-0.93	-121.7	241.4	-18.4	291	1706	0.20	1.92	0.00	0.000	6	0.168	0.027	2274	2426	3996
2046	-1.08	-121.7	294.1	-14.2	352	2053	0.12	2.12	0.00	0.000	4	0.080	0.050	2220	3766	3996
2139	-0.98	-121.7	310.0	-17.8	363	2143	0.15	1.92	0.00	0.000	6	0.166	0.027	2259	2437	3996
2469	-1.09	-121.7	356.4	-13.5	394	2471	0.00	0.00	0.00	0.000	6	0.000	0.000	2259	2437	3996
2792	-1.19	-121.7	399.7	-13.7	424	2798	0.17	2.12	0.00	0.000	4	0.070	0.052	2188	3767	3995
2816	-1.14	-121.7	404.1	-15.2	426	2820	0.00	1.92	0.00	0.000	6	0.000	0.028	2188	2440	3995
3149	-1.03	-121.7	463.5	-17.3	457	3151	0.20	0.00	0.00	0.000	6	0.171	0.000	2241	2437	3994
3468	-1.15	-121.7	505.4	-12.4	485	3471	0.00	2.10	0.00	0.000	4	0.000	0.052	2233	3755	3993
3576	-1.22	-121.7	519.7	-13.9	489	3582	0.12	1.95	0.00	0.000	6	0.084	0.030	2182	2430	3993
3892	-1.09	-121.7	573.2	-18.1	505	3897	0.17	2.15	0.00	0.000	4	0.172	0.028	2232	979	3991
3937	-1.22	-121.7	580.3	-14.6	507	3942	0.15	2.22	0.00	0.000	6	0.080	0.038	2178	2425	3991
4268	-1.13	-121.7	638.4	-17.9	523	4272	0.15	2.12	0.00	0.000	4	0.190	0.052	2205	3761	3989
4308	-1.07	-121.7	646.2	-17.5	525	4312	0.12	1.95	0.00	0.000	6	0.179	0.028	2234	2434	3988
4645	-1.21	-121.7	691.3	-12.9	541	4649	0.12	2.15	0.00	0.000	4	0.084	0.053	2179	3767	3987
4792	-1.07	-121.7	717.2	-18.3	547	4797	0.20	1.98	0.00	0.000	6	0.176	0.030	2230	2434	3985
5116	-1.20	-121.7	763.9	-14.8	563	5120	0.12	2.15	0.00	0.000	4	0.082	0.054	2179	3766	3983
5183	-1.07	-121.7	776.6	-19.7	566	5187	0.20	1.95	0.00	0.000	6	0.176	0.028	2230	2464	3982
5511	-1.21	-121.7	828.8	-15.9	582	5516	0.12	2.10	0.00	0.000	4	0.084	0.054	2179	3764	3980
5612	-1.09	-121.7	848.7	-20.3	586	5618	0.17	1.90	0.00	0.000	6	0.177	0.029	2222	2473	3980
5930	-1.21	-121.7	896.9	-14.4	602	5931	0.00	0.00	0.00	0.000	6	0.000	0.000	2222	2473	3978
6238	-1.33	-121.7	941.9	-14.0	617	6242	0.17	2.08	0.00	0.000	4	0.075	0.053	2149	3754	3976
6312	-1.11	-121.7	955.5	-20.6	620	6316	0.28	1.88	0.00	0.000	6	0.183	0.031	2220	2498	3976
6554	end dive: TARGET_DEPTH_EXCEEDED
state	6554	begin apogee
6561	-0.27	0.0	992.2	13.8	632	6660	0.90	0.00	95.53	1.402	6	0.156	0.000	2483	2376	3532
6661	end apogee: CONTROL_FINISHED_OK
state	6661	begin climb
6664	1.50	121.7	997.8	0.0	637	6780	1.65	2.42	105.88	1.365	4	0.066	0.051	3059	3763	3034
6848	0.66	121.7	997.9	13.7	645	6854	1.10	2.17	0.00	0.000	6	0.220	0.027	2800	2343	3032
7165	0.77	209.5	975.6	6.8	660	7245	0.00	0.00	74.55	1.349	6	0.000	0.000	2800	2340	2677
7556	0.97	241.0	936.8	10.9	679	7589	0.22	2.35	27.33	1.298	4	0.072	0.054	2890	3756	2548
7623	0.79	241.0	926.0	18.5	682	7628	0.25	2.12	0.00	0.000	6	0.186	0.028	2836	2378	2546
7946	0.89	241.0	879.5	14.0	698	7947	0.00	0.00	0.00	0.000	6	0.000	0.000	2836	2376	2543
8254	0.98	241.0	835.0	14.7	713	8259	0.17	2.25	0.00	0.000	4	0.080	0.054	2900	3766	2541
8398	0.77	241.0	807.7	20.4	719	8403	0.30	2.10	0.00	0.000	6	0.187	0.028	2831	2372	2540
8715	0.90	248.2	764.9	12.7	734	8725	0.12	2.22	5.68	0.992	4	0.087	0.053	2879	3756	2522
8749	0.80	248.2	759.8	15.8	735	8757	0.20	2.10	0.00	0.000	6	0.189	0.029	2836	2358	2520
9067	0.93	258.5	720.5	12.5	751	9083	0.12	2.28	10.70	1.135	4	0.088	0.054	2882	3758	2478
9200	0.81	258.5	698.8	17.3	756	9205	0.17	2.08	0.00	0.000	6	0.189	0.030	2842	2396	2476
9534	0.92	258.5	650.7	14.4	772	9539	0.10	2.20	0.00	0.000	4	0.094	0.053	2879	3755	2475
9568	0.83	258.5	644.3	18.5	773	9573	0.15	2.08	0.00	0.000	6	0.191	0.030	2848	2381	2474
9887	0.93	258.5	593.9	16.1	788	9890	0.00	2.15	0.00	0.000	4	0.000	0.037	2858	958	2475
10081	1.06	258.5	564.0	15.5	796	10086	0.17	2.22	0.00	0.000	6	0.081	0.036	2925	2401	2474
10398	0.95	258.5	507.4	16.4	811	10403	0.15	2.20	0.00	0.000	4	0.186	0.031	2896	956	2474
10427	0.95	258.5	502.8	15.8	812	10431	0.00	2.22	0.00	0.000	6	0.000	0.036	2896	2401	2474
10756	0.95	258.5	458.2	14.0	841	10759	0.00	2.15	0.00	0.000	4	0.000	0.055	2896	3754	2473
10803	0.80	258.5	450.3	17.4	845	10808	0.25	2.08	0.00	0.000	6	0.183	0.029	2841	2361	2473
11132	0.99	277.1	411.1	11.8	875	11156	0.17	2.10	16.35	1.005	4	0.077	0.035	2914	980	2402
11192	0.99	277.1	402.4	14.9	880	11196	0.00	2.20	0.00	0.000	6	0.000	0.037	2914	2398	2400
11519	0.99	277.1	347.1	17.6	910	11523	0.00	2.17	0.00	0.000	4	0.000	0.052	2914	3764	2399
11567	0.83	277.1	337.8	20.1	914	11572	0.28	2.05	0.00	0.000	6	0.185	0.028	2851	2389	2399
11898	1.02	296.6	290.3	11.8	950	11923	0.17	2.15	17.42	0.920	4	0.075	0.035	2930	974	2321
11997	1.02	296.6	276.6	15.5	967	12004	0.00	2.22	0.00	0.000	6	0.000	0.037	2930	2407	2320
12345	0.97	296.6	221.0	14.7	1028	12351	0.15	2.17	0.00	0.000	4	0.179	0.053	2893	3765	2318
12512	0.97	296.6	193.8	15.8	1057	12518	0.00	2.03	0.00	0.000	6	0.000	0.028	2894	2411	2318
12858	1.08	296.6	143.6	14.7	1118	12864	0.10	2.17	0.00	0.000	4	0.094	0.031	2942	953	2317
12912	1.13	296.6	135.2	15.4	1127	12919	0.00	2.22	0.00	0.000	6	0.000	0.035	2942	2404	2317
13260	1.08	296.6	81.5	15.0	1188	13266	0.00	2.15	0.00	0.000	4	0.000	0.054	2942	3760	2317
13346	0.96	296.6	67.7	15.2	1203	13354	0.22	2.05	0.00	0.000	6	0.181	0.027	2893	2359	2317
13695	1.24	346.3	25.2	9.6	1264	13743	0.20	2.08	39.55	0.696	4	0.072	0.031	2988	976	2120
13872	end climb: SURFACE_DEPTH_REACHED
state	13872	begin surface coast
13895	end surface coast: CONTROL_FINISHED_OK
state	13895	begin surface