Glider dive log

QPE May09 * SG167 * Dive index * Mission links * Dive 526 * 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 526 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 67 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 34 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 -19481.426 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 -19481.426

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 67 VBD_BLEED_AD_RATE 8

C_VBD 3532 MAX_BUOY 125 R_STBD_OVSHOOT 34 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 526 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 220030,2450.843,12247.010,38,1.3,39,-3.5 TGT_NAME OFF_2

_CALLS 1 TGT_LATLONG 2445.100,12247.000

_XMS_NAKs 2 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.204,-0.158

_SM_DEPTHo 2.76 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 220726,2451.216,12247.381,11,1.3,11,-3.6 MHEAD_RNG_PITCHd_Wd 231.8,11345,-25.0,-13.200

SPEED_LIMITS 0.229,0.259 D_GRID 1301

Post-dive calculations and measurements:

FINISH 2.0,1.020368 _24V_AH 23.1,92.225

SM_CCo 13964,30.02,0.621,0,0,1594,475.15 _10V_AH 10.6,48.697

SM_GC 2.65,0.00,0.00,30.02,0.000,0.000,0.621,136,2384,1594,-7.64,0.03,475.15 DATA_FILE_SIZE 69557,1287

IRIDIUM_FIX 2439.44,12244.11,131198,181806 CAP_FILE_SIZE 154176,0

TT8_MAMPS 0.029146 CFSIZE 260165632,183832576

HUMID 1762 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,2,0

INTERNAL_PRESSURE 9.38513 CURRENT 0.492, 46.9,1

TCM_TEMP 25.40 GPS 200809,020207,2452.771,12248.822,26,1.1,26,-3.6

XPDR_PINGS 1

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 27 231 148.62 SBE_CT 871 24 482.95

Roll_motor 134 55 171.64 Optode 901 33 686.95

VBD_pump_during_apogee 465 1399 15048.62 WL_BB2F 0 105 0.00

VBD_pump_during_surface 30 620 430.37 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 26 103 62.19 nil 0 0 0.00

Iridium_during_connect 31 160 117.27 nil 0 0 0.00

Iridium_during_xfer 194 223 1000.02

Transponder_ping 8 420 80.04

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 13 50 7.28

TT8 2331 19 489.30

LPSleep 8349 2 193.82

TT8_Active 612 19 128.45

TT8_Sampling 2412 39 1017.65

TT8_CF8 694 45 337.33

TT8_Kalman 0 81 0.00

Analog_circuits 1852 12 235.59

GPS_charging 0 0 0.00

Compass 2353 8 199.54

RAFOS 0 0 0.00

Transponder 54 30 17.31

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 2396 2052

46 -1.50 -121.7 3.2 -2.7 4 120 8.10 2.12 -58.50 0.000 4 0.232 0.053 2082 3770 3989

230 -0.63 -121.7 66.1 -35.7 35 237 1.10 2.03 0.00 0.000 6 0.199 0.022 2369 2350 3991

577 -0.93 -121.7 117.2 -12.2 96 583 0.22 2.20 0.00 0.000 4 0.060 0.041 2262 3771 3993

714 -0.86 -121.7 138.4 -14.4 120 721 0.15 1.92 0.00 0.000 6 0.162 0.024 2300 2420 3994

1062 -1.01 -121.7 193.8 -13.1 181 1069 0.15 2.10 0.00 0.000 4 0.072 0.044 2230 3766 3996

1110 -0.84 -121.7 202.5 -18.9 189 1118 0.28 1.90 0.00 0.000 6 0.164 0.023 2307 2432 3996

1460 -1.09 -121.7 241.2 -10.0 250 1466 0.20 2.08 0.00 0.000 4 0.062 0.025 2218 997 3996

1512 -1.09 -121.7 249.4 -16.2 259 1520 0.00 2.17 0.00 0.000 6 0.000 0.033 2218 2443 3996

1857 -0.99 -121.7 312.9 -19.8 314 1861 0.15 2.05 0.00 0.000 4 0.176 0.047 2248 3766 3996

1929 -0.99 -121.7 326.8 -18.0 320 1935 0.00 1.90 0.00 0.000 6 0.000 0.025 2248 2432 3996

2255 -1.09 -121.7 373.6 -12.8 351 2259 0.00 2.10 0.00 0.000 4 0.000 0.048 2246 3767 3996

2351 -1.15 -121.7 386.5 -13.9 359 2358 0.10 1.90 0.00 0.000 6 0.086 0.026 2203 2444 3995

2677 -1.09 -121.7 444.9 -17.1 390 2681 0.00 2.08 0.00 0.000 4 0.000 0.049 2197 3766 3994

2701 -0.99 -121.7 449.3 -18.0 392 2707 0.22 1.88 0.00 0.000 6 0.164 0.025 2258 2464 3994

3033 -1.15 -121.7 495.2 -12.8 423 3038 0.15 2.12 0.00 0.000 4 0.073 0.026 2197 1011 3993

3118 -1.15 -121.7 507.8 -14.7 428 3121 0.00 2.20 0.00 0.000 6 0.000 0.035 2193 2452 3992

3452 -1.09 -121.7 559.6 -16.1 444 3457 0.12 2.15 0.00 0.000 4 0.186 0.026 2223 1004 3990

3504 -1.22 -121.7 567.2 -14.3 446 3508 0.00 2.17 0.00 0.000 6 0.000 0.036 2221 2431 3990

3834 -1.29 -121.7 614.6 -15.0 462 3838 0.17 2.10 0.00 0.000 4 0.074 0.051 2149 3766 3987

3878 -1.05 -121.7 623.5 -20.1 464 3883 0.32 1.92 0.00 0.000 6 0.171 0.027 2237 2443 3986

4204 -1.21 -121.7 667.8 -13.0 480 4208 0.15 2.10 0.00 0.000 4 0.075 0.051 2179 3759 3984

4336 -1.10 -121.7 689.9 -16.9 485 4343 0.17 1.88 0.00 0.000 6 0.174 0.028 2223 2482 3982

4656 -1.21 -121.7 732.8 -13.2 501 4660 0.00 2.05 0.00 0.000 4 0.000 0.054 2220 3764 3980

4786 -1.29 -121.7 751.1 -13.7 506 4792 0.17 1.85 0.00 0.000 6 0.074 0.029 2154 2505 3979

5104 -1.14 -121.7 805.7 -18.1 522 5109 0.20 2.22 0.00 0.000 4 0.173 0.027 2210 1005 3976

5143 -1.24 -121.7 812.3 -13.9 523 5149 0.00 2.25 0.00 0.000 6 0.000 0.038 2207 2463 3976

5460 -1.31 -121.7 856.9 -14.0 539 5464 0.15 2.05 0.00 0.000 4 0.080 0.054 2149 3755 3974

5570 -1.11 -121.7 875.2 -16.8 543 5576 0.28 1.85 0.00 0.000 6 0.176 0.029 2221 2503 3973

5886 -1.25 -121.7 916.1 -13.8 559 5891 0.12 2.03 0.00 0.000 4 0.085 0.054 2166 3761 3971

5967 -1.13 -121.7 929.2 -16.9 562 5971 0.17 1.85 0.00 0.000 6 0.179 0.030 2209 2507 3970

6290 -1.22 -121.7 969.4 -12.5 578 6293 0.00 2.03 0.00 0.000 4 0.000 0.055 2205 3764 3969

6432 -1.28 -121.7 988.9 -13.6 584 6436 0.12 1.83 0.00 0.000 6 0.084 0.031 2158 2544 3968

6439 end dive: TARGET_DEPTH_EXCEEDED

state 6440 begin apogee

6447 -0.27 0.0 990.6 13.5 584 6545 1.15 0.00 93.75 1.400 6 0.173 0.000 2485 2399 3532

6546 end apogee: CONTROL_FINISHED_OK

state 6546 begin climb

6549 1.50 121.7 993.9 0.0 589 6663 1.62 2.35 105.55 1.356 4 0.062 0.050 3061 3762 3035

6708 0.65 127.2 993.3 12.8 596 6723 1.12 2.15 6.07 1.023 6 0.225 0.028 2798 2355 3013

7044 0.75 161.5 958.1 10.7 612 7078 0.00 2.35 29.80 1.309 4 0.000 0.054 2798 3764 2873

7163 0.75 161.5 941.2 15.8 617 7167 0.00 2.12 0.00 0.000 6 0.000 0.028 2803 2372 2870

7486 0.87 177.0 899.2 12.1 633 7509 0.17 2.30 13.85 1.230 4 0.076 0.053 2879 3760 2809

7661 0.60 177.0 868.7 19.7 640 7667 0.43 2.10 0.00 0.000 6 0.193 0.028 2777 2360 2807

7979 0.83 187.3 828.4 12.4 656 7994 0.17 2.30 9.27 1.148 4 0.081 0.054 2849 3753 2768

8062 0.70 187.3 814.6 18.0 659 8068 0.20 2.05 0.00 0.000 6 0.193 0.028 2805 2392 2767

8378 0.88 221.7 776.7 10.7 675 8415 0.17 2.22 30.65 1.243 4 0.079 0.033 2887 956 2626

8463 0.88 221.7 765.3 14.2 678 8467 0.00 2.25 0.00 0.000 6 0.000 0.036 2887 2388 2624

8798 0.83 221.7 713.3 15.8 694 8803 0.15 2.20 0.00 0.000 4 0.188 0.053 2851 3764 2621

8885 0.77 221.7 700.1 14.2 698 8890 0.12 2.08 0.00 0.000 6 0.199 0.028 2830 2378 2621

9220 0.92 242.8 658.9 11.7 714 9250 0.15 2.25 19.48 1.063 4 0.081 0.054 2886 3755 2541

9319 0.78 242.8 643.9 16.1 718 9324 0.25 2.05 0.00 0.000 6 0.189 0.028 2832 2397 2540

9636 0.94 242.8 601.4 13.9 733 9640 0.15 2.20 0.00 0.000 4 0.081 0.054 2889 3754 2539

9681 0.80 242.8 593.5 19.0 735 9686 0.22 2.03 0.00 0.000 6 0.192 0.028 2841 2406 2538

10004 0.93 242.8 545.1 14.5 751 10009 0.12 2.17 0.00 0.000 4 0.086 0.035 2892 965 2538

10202 0.99 242.8 511.7 17.0 760 10206 0.00 2.20 0.00 0.000 6 0.000 0.035 2892 2394 2537

10534 0.99 242.8 460.1 14.1 787 10538 0.00 2.17 0.00 0.000 4 0.000 0.033 2899 960 2536

10712 1.05 248.2 436.0 12.8 802 10722 0.00 2.15 5.05 0.815 6 0.000 0.035 2899 2363 2519

11049 1.09 275.7 393.6 11.2 834 11081 0.00 2.28 24.35 0.996 4 0.000 0.052 2899 3756 2407

11335 1.03 275.7 352.6 15.9 859 11341 0.00 2.05 0.00 0.000 6 0.000 0.028 2909 2383 2403

11666 1.03 275.7 304.2 16.6 890 11670 0.00 2.12 0.00 0.000 4 0.000 0.035 2916 969 2403

11775 1.10 275.7 285.2 15.4 907 11781 0.00 2.17 0.00 0.000 6 0.000 0.035 2915 2387 2402

12119 1.10 275.7 230.2 14.6 968 12125 0.00 2.15 0.00 0.000 4 0.000 0.051 2917 3764 2402

12201 1.02 275.7 216.5 16.6 982 12208 0.00 2.03 0.00 0.000 6 0.000 0.026 2925 2383 2402

12546 1.02 275.7 160.3 16.8 1043 12552 0.00 2.10 0.00 0.000 4 0.000 0.034 2925 979 2402

12656 1.11 275.7 143.3 14.7 1062 12663 0.00 2.17 0.00 0.000 6 0.000 0.035 2925 2406 2402

13003 1.23 318.1 95.2 10.1 1123 13051 0.15 2.12 35.95 0.719 4 0.070 0.051 2985 3754 2235

13306 1.16 373.5 60.6 9.2 1176 13359 0.17 2.00 44.28 0.703 6 0.186 0.027 2953 2389 2009

13701 1.53 433.5 31.8 8.8 1245 13756 0.30 2.20 47.35 0.656 4 0.059 0.029 3088 973 1763

13917 end climb: SURFACE_DEPTH_REACHED

state 13917 begin surface coast

13940 end surface coast: CONTROL_FINISHED_OK

state 13941 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	526	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	67	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	34	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	-19481.426	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	220030,2450.843,12247.010,38,1.3,39,-3.5	TGT_NAME	OFF_2
_CALLS	1	TGT_LATLONG	2445.100,12247.000
_XMS_NAKs	2	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.204,-0.158
_SM_DEPTHo	2.76	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	220726,2451.216,12247.381,11,1.3,11,-3.6	MHEAD_RNG_PITCHd_Wd	231.8,11345,-25.0,-13.200
SPEED_LIMITS	0.229,0.259	D_GRID	1301

FINISH	2.0,1.020368	_24V_AH	23.1,92.225
SM_CCo	13964,30.02,0.621,0,0,1594,475.15	_10V_AH	10.6,48.697
SM_GC	2.65,0.00,0.00,30.02,0.000,0.000,0.621,136,2384,1594,-7.64,0.03,475.15	DATA_FILE_SIZE	69557,1287
IRIDIUM_FIX	2439.44,12244.11,131198,181806	CAP_FILE_SIZE	154176,0
TT8_MAMPS	0.029146	CFSIZE	260165632,183832576
HUMID	1762	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
INTERNAL_PRESSURE	9.38513	CURRENT	0.492, 46.9,1
TCM_TEMP	25.40	GPS	200809,020207,2452.771,12248.822,26,1.1,26,-3.6
XPDR_PINGS	1

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	27	231	148.62	SBE_CT	871	24	482.95
Roll_motor	134	55	171.64	Optode	901	33	686.95
VBD_pump_during_apogee	465	1399	15048.62	WL_BB2F	0	105	0.00
VBD_pump_during_surface	30	620	430.37	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	26	103	62.19	nil	0	0	0.00
Iridium_during_connect	31	160	117.27	nil	0	0	0.00
Iridium_during_xfer	194	223	1000.02
Transponder_ping	8	420	80.04
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	13	50	7.28
TT8	2331	19	489.30
LPSleep	8349	2	193.82
TT8_Active	612	19	128.45
TT8_Sampling	2412	39	1017.65
TT8_CF8	694	45	337.33
TT8_Kalman	0	81	0.00
Analog_circuits	1852	12	235.59
GPS_charging	0	0	0.00
Compass	2353	8	199.54
RAFOS	0	0	0.00
Transponder	54	30	17.31

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	2396	2052
46	-1.50	-121.7	3.2	-2.7	4	120	8.10	2.12	-58.50	0.000	4	0.232	0.053	2082	3770	3989
230	-0.63	-121.7	66.1	-35.7	35	237	1.10	2.03	0.00	0.000	6	0.199	0.022	2369	2350	3991
577	-0.93	-121.7	117.2	-12.2	96	583	0.22	2.20	0.00	0.000	4	0.060	0.041	2262	3771	3993
714	-0.86	-121.7	138.4	-14.4	120	721	0.15	1.92	0.00	0.000	6	0.162	0.024	2300	2420	3994
1062	-1.01	-121.7	193.8	-13.1	181	1069	0.15	2.10	0.00	0.000	4	0.072	0.044	2230	3766	3996
1110	-0.84	-121.7	202.5	-18.9	189	1118	0.28	1.90	0.00	0.000	6	0.164	0.023	2307	2432	3996
1460	-1.09	-121.7	241.2	-10.0	250	1466	0.20	2.08	0.00	0.000	4	0.062	0.025	2218	997	3996
1512	-1.09	-121.7	249.4	-16.2	259	1520	0.00	2.17	0.00	0.000	6	0.000	0.033	2218	2443	3996
1857	-0.99	-121.7	312.9	-19.8	314	1861	0.15	2.05	0.00	0.000	4	0.176	0.047	2248	3766	3996
1929	-0.99	-121.7	326.8	-18.0	320	1935	0.00	1.90	0.00	0.000	6	0.000	0.025	2248	2432	3996
2255	-1.09	-121.7	373.6	-12.8	351	2259	0.00	2.10	0.00	0.000	4	0.000	0.048	2246	3767	3996
2351	-1.15	-121.7	386.5	-13.9	359	2358	0.10	1.90	0.00	0.000	6	0.086	0.026	2203	2444	3995
2677	-1.09	-121.7	444.9	-17.1	390	2681	0.00	2.08	0.00	0.000	4	0.000	0.049	2197	3766	3994
2701	-0.99	-121.7	449.3	-18.0	392	2707	0.22	1.88	0.00	0.000	6	0.164	0.025	2258	2464	3994
3033	-1.15	-121.7	495.2	-12.8	423	3038	0.15	2.12	0.00	0.000	4	0.073	0.026	2197	1011	3993
3118	-1.15	-121.7	507.8	-14.7	428	3121	0.00	2.20	0.00	0.000	6	0.000	0.035	2193	2452	3992
3452	-1.09	-121.7	559.6	-16.1	444	3457	0.12	2.15	0.00	0.000	4	0.186	0.026	2223	1004	3990
3504	-1.22	-121.7	567.2	-14.3	446	3508	0.00	2.17	0.00	0.000	6	0.000	0.036	2221	2431	3990
3834	-1.29	-121.7	614.6	-15.0	462	3838	0.17	2.10	0.00	0.000	4	0.074	0.051	2149	3766	3987
3878	-1.05	-121.7	623.5	-20.1	464	3883	0.32	1.92	0.00	0.000	6	0.171	0.027	2237	2443	3986
4204	-1.21	-121.7	667.8	-13.0	480	4208	0.15	2.10	0.00	0.000	4	0.075	0.051	2179	3759	3984
4336	-1.10	-121.7	689.9	-16.9	485	4343	0.17	1.88	0.00	0.000	6	0.174	0.028	2223	2482	3982
4656	-1.21	-121.7	732.8	-13.2	501	4660	0.00	2.05	0.00	0.000	4	0.000	0.054	2220	3764	3980
4786	-1.29	-121.7	751.1	-13.7	506	4792	0.17	1.85	0.00	0.000	6	0.074	0.029	2154	2505	3979
5104	-1.14	-121.7	805.7	-18.1	522	5109	0.20	2.22	0.00	0.000	4	0.173	0.027	2210	1005	3976
5143	-1.24	-121.7	812.3	-13.9	523	5149	0.00	2.25	0.00	0.000	6	0.000	0.038	2207	2463	3976
5460	-1.31	-121.7	856.9	-14.0	539	5464	0.15	2.05	0.00	0.000	4	0.080	0.054	2149	3755	3974
5570	-1.11	-121.7	875.2	-16.8	543	5576	0.28	1.85	0.00	0.000	6	0.176	0.029	2221	2503	3973
5886	-1.25	-121.7	916.1	-13.8	559	5891	0.12	2.03	0.00	0.000	4	0.085	0.054	2166	3761	3971
5967	-1.13	-121.7	929.2	-16.9	562	5971	0.17	1.85	0.00	0.000	6	0.179	0.030	2209	2507	3970
6290	-1.22	-121.7	969.4	-12.5	578	6293	0.00	2.03	0.00	0.000	4	0.000	0.055	2205	3764	3969
6432	-1.28	-121.7	988.9	-13.6	584	6436	0.12	1.83	0.00	0.000	6	0.084	0.031	2158	2544	3968
6439	end dive: TARGET_DEPTH_EXCEEDED
state	6440	begin apogee
6447	-0.27	0.0	990.6	13.5	584	6545	1.15	0.00	93.75	1.400	6	0.173	0.000	2485	2399	3532
6546	end apogee: CONTROL_FINISHED_OK
state	6546	begin climb
6549	1.50	121.7	993.9	0.0	589	6663	1.62	2.35	105.55	1.356	4	0.062	0.050	3061	3762	3035
6708	0.65	127.2	993.3	12.8	596	6723	1.12	2.15	6.07	1.023	6	0.225	0.028	2798	2355	3013
7044	0.75	161.5	958.1	10.7	612	7078	0.00	2.35	29.80	1.309	4	0.000	0.054	2798	3764	2873
7163	0.75	161.5	941.2	15.8	617	7167	0.00	2.12	0.00	0.000	6	0.000	0.028	2803	2372	2870
7486	0.87	177.0	899.2	12.1	633	7509	0.17	2.30	13.85	1.230	4	0.076	0.053	2879	3760	2809
7661	0.60	177.0	868.7	19.7	640	7667	0.43	2.10	0.00	0.000	6	0.193	0.028	2777	2360	2807
7979	0.83	187.3	828.4	12.4	656	7994	0.17	2.30	9.27	1.148	4	0.081	0.054	2849	3753	2768
8062	0.70	187.3	814.6	18.0	659	8068	0.20	2.05	0.00	0.000	6	0.193	0.028	2805	2392	2767
8378	0.88	221.7	776.7	10.7	675	8415	0.17	2.22	30.65	1.243	4	0.079	0.033	2887	956	2626
8463	0.88	221.7	765.3	14.2	678	8467	0.00	2.25	0.00	0.000	6	0.000	0.036	2887	2388	2624
8798	0.83	221.7	713.3	15.8	694	8803	0.15	2.20	0.00	0.000	4	0.188	0.053	2851	3764	2621
8885	0.77	221.7	700.1	14.2	698	8890	0.12	2.08	0.00	0.000	6	0.199	0.028	2830	2378	2621
9220	0.92	242.8	658.9	11.7	714	9250	0.15	2.25	19.48	1.063	4	0.081	0.054	2886	3755	2541
9319	0.78	242.8	643.9	16.1	718	9324	0.25	2.05	0.00	0.000	6	0.189	0.028	2832	2397	2540
9636	0.94	242.8	601.4	13.9	733	9640	0.15	2.20	0.00	0.000	4	0.081	0.054	2889	3754	2539
9681	0.80	242.8	593.5	19.0	735	9686	0.22	2.03	0.00	0.000	6	0.192	0.028	2841	2406	2538
10004	0.93	242.8	545.1	14.5	751	10009	0.12	2.17	0.00	0.000	4	0.086	0.035	2892	965	2538
10202	0.99	242.8	511.7	17.0	760	10206	0.00	2.20	0.00	0.000	6	0.000	0.035	2892	2394	2537
10534	0.99	242.8	460.1	14.1	787	10538	0.00	2.17	0.00	0.000	4	0.000	0.033	2899	960	2536
10712	1.05	248.2	436.0	12.8	802	10722	0.00	2.15	5.05	0.815	6	0.000	0.035	2899	2363	2519
11049	1.09	275.7	393.6	11.2	834	11081	0.00	2.28	24.35	0.996	4	0.000	0.052	2899	3756	2407
11335	1.03	275.7	352.6	15.9	859	11341	0.00	2.05	0.00	0.000	6	0.000	0.028	2909	2383	2403
11666	1.03	275.7	304.2	16.6	890	11670	0.00	2.12	0.00	0.000	4	0.000	0.035	2916	969	2403
11775	1.10	275.7	285.2	15.4	907	11781	0.00	2.17	0.00	0.000	6	0.000	0.035	2915	2387	2402
12119	1.10	275.7	230.2	14.6	968	12125	0.00	2.15	0.00	0.000	4	0.000	0.051	2917	3764	2402
12201	1.02	275.7	216.5	16.6	982	12208	0.00	2.03	0.00	0.000	6	0.000	0.026	2925	2383	2402
12546	1.02	275.7	160.3	16.8	1043	12552	0.00	2.10	0.00	0.000	4	0.000	0.034	2925	979	2402
12656	1.11	275.7	143.3	14.7	1062	12663	0.00	2.17	0.00	0.000	6	0.000	0.035	2925	2406	2402
13003	1.23	318.1	95.2	10.1	1123	13051	0.15	2.12	35.95	0.719	4	0.070	0.051	2985	3754	2235
13306	1.16	373.5	60.6	9.2	1176	13359	0.17	2.00	44.28	0.703	6	0.186	0.027	2953	2389	2009
13701	1.53	433.5	31.8	8.8	1245	13756	0.30	2.20	47.35	0.656	4	0.059	0.029	3088	973	1763
13917	end climb: SURFACE_DEPTH_REACHED
state	13917	begin surface coast
13940	end surface coast: CONTROL_FINISHED_OK
state	13941	begin surface