Glider dive log

QPE May09 * SG167 * Dive index * Mission links * Dive 523 * 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 523 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 81 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 38 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 -19435.041 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 -19435.041

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 81 VBD_BLEED_AD_RATE 8

C_VBD 3532 MAX_BUOY 125 R_STBD_OVSHOOT 38 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 523 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 094537,2449.153,12238.266,39,0.8,40,-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 2.79 KALMAN_X 11863.0,1074.4,313.9,-12549.1,1366.5

_SM_ANGLEo -71.3 KALMAN_Y 11194.8,508.1,444.1,-2876.3,1519.9

GPS2 095231,2449.449,12238.646,15,1.2,26,-3.5 MHEAD_RNG_PITCHd_Wd 168.3,16194,-25.0,-13.200

SPEED_LIMITS 0.229,0.259 D_GRID 1071

Post-dive calculations and measurements:

FINISH 1.9,1.021390 _24V_AH 23.0,91.715

SM_CCo 13805,49.62,0.652,0,0,1594,475.15 _10V_AH 10.6,48.443

SM_GC 3.58,0.00,0.00,49.62,0.000,0.000,0.652,137,2362,1594,-7.64,-0.59,475.15 DATA_FILE_SIZE 66369,1252

IRIDIUM_FIX 2439.44,12232.28,131198,050549 CAP_FILE_SIZE 146725,0

TT8_MAMPS 0.029146 CFSIZE 260165632,184074240

HUMID 1808 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 9.307 CURRENT 0.389, 44.1,1

TCM_TEMP 24.10 GPS 190809,134507,2449.846,12241.224,38,1.0,39,-3.5

XPDR_PINGS 0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 238 144.29 SBE_CT 850 24 469.39

Roll_motor 128 55 163.34 Optode 882 33 669.62

VBD_pump_during_apogee 442 1399 14250.47 WL_BB2F 0 105 0.00

VBD_pump_during_surface 49 651 744.12 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 30 103 71.35 nil 0 0 0.00

Iridium_during_connect 32 160 120.06 nil 0 0 0.00

Iridium_during_xfer 177 223 911.14

Transponder_ping 8 420 77.28

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 26 50 14.13

TT8 2252 19 472.84

LPSleep 8424 2 195.56

TT8_Active 600 19 126.06

TT8_Sampling 2313 39 976.13

TT8_CF8 669 45 325.24

TT8_Kalman 0 81 0.00

Analog_circuits 1785 12 227.07

GPS_charging 0 0 0.00

Compass 2242 8 190.17

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 44 0.00 0.00 -25.75 0.000 2 0.000 0.000 137 2348 2214

47 -1.50 -121.7 3.2 -1.9 4 122 8.25 2.22 -58.85 0.000 4 0.239 0.053 2084 3766 3989

377 -0.64 -121.7 100.5 -33.1 61 384 1.08 2.03 0.00 0.000 6 0.195 0.024 2368 2354 3992

724 -1.04 -121.7 128.0 -7.2 122 732 0.30 2.22 0.00 0.000 4 0.059 0.047 2232 3764 3994

763 -0.92 -121.7 133.1 -16.0 128 769 0.20 1.98 0.00 0.000 6 0.173 0.025 2285 2387 3994

1109 -1.03 -121.7 177.0 -12.9 189 1116 0.12 2.15 0.00 0.000 4 0.079 0.047 2223 3754 3994

1224 -0.89 -121.7 198.1 -18.8 209 1231 0.25 1.90 0.00 0.000 6 0.170 0.025 2291 2430 3994

1574 -1.05 -121.7 251.3 -16.3 270 1582 0.15 2.10 0.00 0.000 4 0.071 0.048 2221 3764 3995

1607 -0.98 -121.7 257.8 -20.1 275 1613 0.15 1.95 0.00 0.000 6 0.169 0.025 2259 2405 3995

1954 -1.04 -121.7 318.8 -17.2 327 1958 0.00 2.12 0.00 0.000 4 0.000 0.048 2251 3761 3995

2023 -1.04 -121.7 331.1 -17.1 333 2027 0.00 1.92 0.00 0.000 6 0.000 0.025 2251 2415 3996

2354 -1.11 -121.7 383.0 -13.6 364 2358 0.00 2.12 0.00 0.000 4 0.000 0.048 2246 3761 3995

2485 -1.11 -121.7 398.8 -10.6 375 2491 0.00 1.90 0.00 0.000 6 0.000 0.025 2246 2437 3995

2811 -1.20 -121.7 432.2 -11.2 406 2813 0.15 0.00 0.00 0.000 6 0.077 0.000 2184 2436 3994

3128 -1.06 -121.7 488.4 -18.9 436 3133 0.20 2.10 0.00 0.000 4 0.177 0.049 2232 3757 3993

3251 -1.06 -121.7 508.3 -15.4 444 3257 0.00 1.90 0.00 0.000 6 0.000 0.027 2232 2443 3993

3569 -1.12 -121.7 554.9 -15.3 460 3573 0.00 2.10 0.00 0.000 4 0.000 0.051 2225 3764 3991

3648 -1.12 -121.7 568.1 -17.0 463 3651 0.00 1.88 0.00 0.000 6 0.000 0.028 2224 2477 3991

3971 -1.17 -121.7 618.9 -16.4 479 3975 0.00 2.05 0.00 0.000 4 0.000 0.051 2219 3762 3990

4063 -1.17 -121.7 634.9 -17.1 483 4066 0.00 1.88 0.00 0.000 6 0.000 0.028 2219 2485 3989

4397 -1.22 -121.7 685.6 -14.7 499 4400 0.00 2.05 0.00 0.000 4 0.000 0.054 2218 3764 3986

4505 -1.22 -121.7 702.4 -14.7 503 4510 0.00 1.85 0.00 0.000 6 0.000 0.029 2218 2502 3986

4821 -1.22 -121.7 747.2 -14.3 519 4825 0.00 2.03 0.00 0.000 4 0.000 0.054 2218 3764 3984

4868 -1.22 -121.7 754.2 -14.7 521 4872 0.00 1.85 0.00 0.000 6 0.000 0.029 2218 2508 3983

5204 -1.27 -121.7 801.3 -14.1 537 5208 0.12 2.00 0.00 0.000 4 0.084 0.054 2166 3750 3982

5227 -1.20 -121.7 805.5 -16.0 538 5231 0.00 1.80 0.00 0.000 6 0.000 0.028 2166 2528 3981

5562 -1.06 -121.7 859.8 -15.7 554 5567 0.22 2.28 0.00 0.000 4 0.180 0.028 2229 1003 3979

5602 -1.21 -121.7 865.3 -12.0 556 5607 0.12 2.35 0.00 0.000 6 0.086 0.038 2186 2515 3980

5930 -1.21 -121.7 909.4 -13.9 572 5934 0.00 1.98 0.00 0.000 4 0.000 0.054 2179 3763 3977

6000 -1.10 -121.7 919.9 -15.1 575 6004 0.17 1.80 0.00 0.000 6 0.182 0.028 2222 2547 3976

6336 -1.20 -121.7 963.1 -13.5 591 6340 0.00 1.98 0.00 0.000 4 0.000 0.055 2219 3770 3975

6422 -1.27 -121.7 976.6 -14.4 594 6429 0.15 1.80 0.00 0.000 6 0.081 0.031 2163 2566 3974

6508 end dive: TARGET_DEPTH_EXCEEDED

state 6508 begin apogee

6516 -0.27 0.0 992.5 18.4 599 6615 1.17 0.00 95.15 1.399 6 0.178 0.000 2485 2396 3532

6616 end apogee: CONTROL_FINISHED_OK

state 6616 begin climb

6620 1.50 121.7 999.5 0.0 604 6736 1.62 2.38 105.80 1.362 4 0.063 0.050 3060 3757 3034

6884 0.68 125.2 992.0 12.9 616 6894 1.08 2.12 4.15 0.849 6 0.222 0.027 2804 2346 3021

7217 0.76 190.6 967.7 8.5 632 7281 0.00 2.38 55.67 1.341 4 0.000 0.052 2804 3756 2753

7380 0.76 190.6 948.7 14.5 639 7383 0.00 2.12 0.00 0.000 6 0.000 0.029 2813 2366 2750

7709 0.86 190.6 903.3 14.0 655 7713 0.12 2.22 0.00 0.000 4 0.087 0.051 2860 3754 2747

7838 0.70 190.6 880.4 17.2 660 7845 0.25 2.08 0.00 0.000 6 0.190 0.029 2805 2380 2746

8156 0.85 211.9 841.6 11.7 676 8181 0.15 2.22 18.45 1.249 4 0.084 0.035 2869 959 2667

8215 0.85 211.9 833.2 14.3 678 8223 0.00 2.22 0.00 0.000 6 0.000 0.036 2868 2384 2665

8532 0.85 211.9 787.6 14.5 694 8536 0.00 2.17 0.00 0.000 4 0.000 0.035 2868 966 2663

8566 0.85 211.9 782.6 13.7 695 8570 0.00 2.22 0.00 0.000 6 0.000 0.035 2869 2407 2663

8882 0.85 211.9 737.7 14.4 710 8885 0.00 2.12 0.00 0.000 4 0.000 0.055 2869 3752 2661

8916 0.69 211.9 732.3 16.1 711 8921 0.28 2.05 0.00 0.000 6 0.189 0.028 2808 2372 2661

9234 0.86 219.8 691.8 12.6 726 9248 0.15 2.30 7.15 1.040 4 0.084 0.053 2865 3758 2636

9288 0.71 219.8 683.0 17.2 728 9293 0.25 2.03 0.00 0.000 6 0.189 0.029 2810 2403 2636

9607 0.92 249.6 645.0 11.0 743 9638 0.17 2.25 25.75 1.167 4 0.081 0.054 2885 3764 2514

9701 0.76 249.6 629.9 18.1 747 9706 0.25 2.05 0.00 0.000 6 0.189 0.030 2831 2415 2512

10019 0.96 292.5 595.6 10.1 762 10063 0.17 2.22 37.05 1.136 4 0.077 0.053 2897 3761 2340

10234 0.83 292.5 554.1 21.9 771 10238 0.22 2.03 0.00 0.000 6 0.189 0.030 2850 2424 2334

10557 0.97 292.5 501.9 15.3 787 10562 0.12 2.17 0.00 0.000 4 0.086 0.055 2896 3758 2333

10718 0.84 292.5 471.3 20.5 800 10722 0.20 1.95 0.00 0.000 6 0.189 0.030 2854 2453 2332

11050 0.99 302.4 428.2 12.5 831 11062 0.12 0.00 8.73 0.939 6 0.087 0.000 2901 2450 2299

11380 0.99 302.4 366.2 19.2 862 11384 0.00 2.10 0.00 0.000 4 0.000 0.054 2901 3755 2297

11414 0.99 302.4 359.7 19.4 865 11418 0.00 1.92 0.00 0.000 6 0.000 0.030 2911 2461 2296

11749 0.99 302.4 298.4 18.6 896 11755 0.00 2.08 0.00 0.000 4 0.000 0.054 2911 3752 2295

11802 0.91 302.4 285.9 22.3 905 11808 0.12 1.92 0.00 0.000 6 0.177 0.028 2873 2474 2296

12148 1.06 302.4 224.4 17.5 966 12156 0.12 2.25 0.00 0.000 4 0.086 0.033 2929 974 2295

12366 1.11 302.4 188.5 14.7 1004 12372 0.00 2.30 0.00 0.000 6 0.000 0.036 2929 2468 2295

12710 1.11 302.4 130.0 13.9 1065 12716 0.00 2.03 0.00 0.000 4 0.000 0.054 2930 3754 2295

12787 1.06 333.0 121.1 11.0 1078 12818 0.00 1.90 25.55 0.781 6 0.000 0.028 2938 2451 2173

13161 1.12 333.0 73.3 14.7 1143 13167 0.00 2.10 0.00 0.000 4 0.000 0.051 2938 3764 2170

13220 1.06 333.0 62.9 16.7 1153 13225 0.00 1.90 0.00 0.000 6 0.000 0.027 2946 2472 2169

13565 1.30 408.1 21.8 7.8 1214 13631 0.15 2.17 59.42 0.682 4 0.075 0.051 3007 3765 1867

13748 end climb: SURFACE_DEPTH_REACHED

state 13748 begin surface coast

13783 end surface coast: CONTROL_FINISHED_OK

state 13783 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	523	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	81	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	38	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	-19435.041	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	094537,2449.153,12238.266,39,0.8,40,-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	2.79	KALMAN_X	11863.0,1074.4,313.9,-12549.1,1366.5
_SM_ANGLEo	-71.3	KALMAN_Y	11194.8,508.1,444.1,-2876.3,1519.9
GPS2	095231,2449.449,12238.646,15,1.2,26,-3.5	MHEAD_RNG_PITCHd_Wd	168.3,16194,-25.0,-13.200
SPEED_LIMITS	0.229,0.259	D_GRID	1071

FINISH	1.9,1.021390	_24V_AH	23.0,91.715
SM_CCo	13805,49.62,0.652,0,0,1594,475.15	_10V_AH	10.6,48.443
SM_GC	3.58,0.00,0.00,49.62,0.000,0.000,0.652,137,2362,1594,-7.64,-0.59,475.15	DATA_FILE_SIZE	66369,1252
IRIDIUM_FIX	2439.44,12232.28,131198,050549	CAP_FILE_SIZE	146725,0
TT8_MAMPS	0.029146	CFSIZE	260165632,184074240
HUMID	1808	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	9.307	CURRENT	0.389, 44.1,1
TCM_TEMP	24.10	GPS	190809,134507,2449.846,12241.224,38,1.0,39,-3.5
XPDR_PINGS	0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	238	144.29	SBE_CT	850	24	469.39
Roll_motor	128	55	163.34	Optode	882	33	669.62
VBD_pump_during_apogee	442	1399	14250.47	WL_BB2F	0	105	0.00
VBD_pump_during_surface	49	651	744.12	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	30	103	71.35	nil	0	0	0.00
Iridium_during_connect	32	160	120.06	nil	0	0	0.00
Iridium_during_xfer	177	223	911.14
Transponder_ping	8	420	77.28
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	26	50	14.13
TT8	2252	19	472.84
LPSleep	8424	2	195.56
TT8_Active	600	19	126.06
TT8_Sampling	2313	39	976.13
TT8_CF8	669	45	325.24
TT8_Kalman	0	81	0.00
Analog_circuits	1785	12	227.07
GPS_charging	0	0	0.00
Compass	2242	8	190.17
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	44	0.00	0.00	-25.75	0.000	2	0.000	0.000	137	2348	2214
47	-1.50	-121.7	3.2	-1.9	4	122	8.25	2.22	-58.85	0.000	4	0.239	0.053	2084	3766	3989
377	-0.64	-121.7	100.5	-33.1	61	384	1.08	2.03	0.00	0.000	6	0.195	0.024	2368	2354	3992
724	-1.04	-121.7	128.0	-7.2	122	732	0.30	2.22	0.00	0.000	4	0.059	0.047	2232	3764	3994
763	-0.92	-121.7	133.1	-16.0	128	769	0.20	1.98	0.00	0.000	6	0.173	0.025	2285	2387	3994
1109	-1.03	-121.7	177.0	-12.9	189	1116	0.12	2.15	0.00	0.000	4	0.079	0.047	2223	3754	3994
1224	-0.89	-121.7	198.1	-18.8	209	1231	0.25	1.90	0.00	0.000	6	0.170	0.025	2291	2430	3994
1574	-1.05	-121.7	251.3	-16.3	270	1582	0.15	2.10	0.00	0.000	4	0.071	0.048	2221	3764	3995
1607	-0.98	-121.7	257.8	-20.1	275	1613	0.15	1.95	0.00	0.000	6	0.169	0.025	2259	2405	3995
1954	-1.04	-121.7	318.8	-17.2	327	1958	0.00	2.12	0.00	0.000	4	0.000	0.048	2251	3761	3995
2023	-1.04	-121.7	331.1	-17.1	333	2027	0.00	1.92	0.00	0.000	6	0.000	0.025	2251	2415	3996
2354	-1.11	-121.7	383.0	-13.6	364	2358	0.00	2.12	0.00	0.000	4	0.000	0.048	2246	3761	3995
2485	-1.11	-121.7	398.8	-10.6	375	2491	0.00	1.90	0.00	0.000	6	0.000	0.025	2246	2437	3995
2811	-1.20	-121.7	432.2	-11.2	406	2813	0.15	0.00	0.00	0.000	6	0.077	0.000	2184	2436	3994
3128	-1.06	-121.7	488.4	-18.9	436	3133	0.20	2.10	0.00	0.000	4	0.177	0.049	2232	3757	3993
3251	-1.06	-121.7	508.3	-15.4	444	3257	0.00	1.90	0.00	0.000	6	0.000	0.027	2232	2443	3993
3569	-1.12	-121.7	554.9	-15.3	460	3573	0.00	2.10	0.00	0.000	4	0.000	0.051	2225	3764	3991
3648	-1.12	-121.7	568.1	-17.0	463	3651	0.00	1.88	0.00	0.000	6	0.000	0.028	2224	2477	3991
3971	-1.17	-121.7	618.9	-16.4	479	3975	0.00	2.05	0.00	0.000	4	0.000	0.051	2219	3762	3990
4063	-1.17	-121.7	634.9	-17.1	483	4066	0.00	1.88	0.00	0.000	6	0.000	0.028	2219	2485	3989
4397	-1.22	-121.7	685.6	-14.7	499	4400	0.00	2.05	0.00	0.000	4	0.000	0.054	2218	3764	3986
4505	-1.22	-121.7	702.4	-14.7	503	4510	0.00	1.85	0.00	0.000	6	0.000	0.029	2218	2502	3986
4821	-1.22	-121.7	747.2	-14.3	519	4825	0.00	2.03	0.00	0.000	4	0.000	0.054	2218	3764	3984
4868	-1.22	-121.7	754.2	-14.7	521	4872	0.00	1.85	0.00	0.000	6	0.000	0.029	2218	2508	3983
5204	-1.27	-121.7	801.3	-14.1	537	5208	0.12	2.00	0.00	0.000	4	0.084	0.054	2166	3750	3982
5227	-1.20	-121.7	805.5	-16.0	538	5231	0.00	1.80	0.00	0.000	6	0.000	0.028	2166	2528	3981
5562	-1.06	-121.7	859.8	-15.7	554	5567	0.22	2.28	0.00	0.000	4	0.180	0.028	2229	1003	3979
5602	-1.21	-121.7	865.3	-12.0	556	5607	0.12	2.35	0.00	0.000	6	0.086	0.038	2186	2515	3980
5930	-1.21	-121.7	909.4	-13.9	572	5934	0.00	1.98	0.00	0.000	4	0.000	0.054	2179	3763	3977
6000	-1.10	-121.7	919.9	-15.1	575	6004	0.17	1.80	0.00	0.000	6	0.182	0.028	2222	2547	3976
6336	-1.20	-121.7	963.1	-13.5	591	6340	0.00	1.98	0.00	0.000	4	0.000	0.055	2219	3770	3975
6422	-1.27	-121.7	976.6	-14.4	594	6429	0.15	1.80	0.00	0.000	6	0.081	0.031	2163	2566	3974
6508	end dive: TARGET_DEPTH_EXCEEDED
state	6508	begin apogee
6516	-0.27	0.0	992.5	18.4	599	6615	1.17	0.00	95.15	1.399	6	0.178	0.000	2485	2396	3532
6616	end apogee: CONTROL_FINISHED_OK
state	6616	begin climb
6620	1.50	121.7	999.5	0.0	604	6736	1.62	2.38	105.80	1.362	4	0.063	0.050	3060	3757	3034
6884	0.68	125.2	992.0	12.9	616	6894	1.08	2.12	4.15	0.849	6	0.222	0.027	2804	2346	3021
7217	0.76	190.6	967.7	8.5	632	7281	0.00	2.38	55.67	1.341	4	0.000	0.052	2804	3756	2753
7380	0.76	190.6	948.7	14.5	639	7383	0.00	2.12	0.00	0.000	6	0.000	0.029	2813	2366	2750
7709	0.86	190.6	903.3	14.0	655	7713	0.12	2.22	0.00	0.000	4	0.087	0.051	2860	3754	2747
7838	0.70	190.6	880.4	17.2	660	7845	0.25	2.08	0.00	0.000	6	0.190	0.029	2805	2380	2746
8156	0.85	211.9	841.6	11.7	676	8181	0.15	2.22	18.45	1.249	4	0.084	0.035	2869	959	2667
8215	0.85	211.9	833.2	14.3	678	8223	0.00	2.22	0.00	0.000	6	0.000	0.036	2868	2384	2665
8532	0.85	211.9	787.6	14.5	694	8536	0.00	2.17	0.00	0.000	4	0.000	0.035	2868	966	2663
8566	0.85	211.9	782.6	13.7	695	8570	0.00	2.22	0.00	0.000	6	0.000	0.035	2869	2407	2663
8882	0.85	211.9	737.7	14.4	710	8885	0.00	2.12	0.00	0.000	4	0.000	0.055	2869	3752	2661
8916	0.69	211.9	732.3	16.1	711	8921	0.28	2.05	0.00	0.000	6	0.189	0.028	2808	2372	2661
9234	0.86	219.8	691.8	12.6	726	9248	0.15	2.30	7.15	1.040	4	0.084	0.053	2865	3758	2636
9288	0.71	219.8	683.0	17.2	728	9293	0.25	2.03	0.00	0.000	6	0.189	0.029	2810	2403	2636
9607	0.92	249.6	645.0	11.0	743	9638	0.17	2.25	25.75	1.167	4	0.081	0.054	2885	3764	2514
9701	0.76	249.6	629.9	18.1	747	9706	0.25	2.05	0.00	0.000	6	0.189	0.030	2831	2415	2512
10019	0.96	292.5	595.6	10.1	762	10063	0.17	2.22	37.05	1.136	4	0.077	0.053	2897	3761	2340
10234	0.83	292.5	554.1	21.9	771	10238	0.22	2.03	0.00	0.000	6	0.189	0.030	2850	2424	2334
10557	0.97	292.5	501.9	15.3	787	10562	0.12	2.17	0.00	0.000	4	0.086	0.055	2896	3758	2333
10718	0.84	292.5	471.3	20.5	800	10722	0.20	1.95	0.00	0.000	6	0.189	0.030	2854	2453	2332
11050	0.99	302.4	428.2	12.5	831	11062	0.12	0.00	8.73	0.939	6	0.087	0.000	2901	2450	2299
11380	0.99	302.4	366.2	19.2	862	11384	0.00	2.10	0.00	0.000	4	0.000	0.054	2901	3755	2297
11414	0.99	302.4	359.7	19.4	865	11418	0.00	1.92	0.00	0.000	6	0.000	0.030	2911	2461	2296
11749	0.99	302.4	298.4	18.6	896	11755	0.00	2.08	0.00	0.000	4	0.000	0.054	2911	3752	2295
11802	0.91	302.4	285.9	22.3	905	11808	0.12	1.92	0.00	0.000	6	0.177	0.028	2873	2474	2296
12148	1.06	302.4	224.4	17.5	966	12156	0.12	2.25	0.00	0.000	4	0.086	0.033	2929	974	2295
12366	1.11	302.4	188.5	14.7	1004	12372	0.00	2.30	0.00	0.000	6	0.000	0.036	2929	2468	2295
12710	1.11	302.4	130.0	13.9	1065	12716	0.00	2.03	0.00	0.000	4	0.000	0.054	2930	3754	2295
12787	1.06	333.0	121.1	11.0	1078	12818	0.00	1.90	25.55	0.781	6	0.000	0.028	2938	2451	2173
13161	1.12	333.0	73.3	14.7	1143	13167	0.00	2.10	0.00	0.000	4	0.000	0.051	2938	3764	2170
13220	1.06	333.0	62.9	16.7	1153	13225	0.00	1.90	0.00	0.000	6	0.000	0.027	2946	2472	2169
13565	1.30	408.1	21.8	7.8	1214	13631	0.15	2.17	59.42	0.682	4	0.075	0.051	3007	3765	1867
13748	end climb: SURFACE_DEPTH_REACHED
state	13748	begin surface coast
13783	end surface coast: CONTROL_FINISHED_OK
state	13783	begin surface