Glider dive log

QPE May09 * SG167 * Dive index * Mission links * Dive 531 * 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 531 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 72 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 39 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 -19664.85 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 -19664.85

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 72 VBD_BLEED_AD_RATE 8

C_VBD 3532 MAX_BUOY 125 R_STBD_OVSHOOT 39 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 531 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 180237,2500.379,12253.801,24,2.0,25,-3.6 TGT_NAME IN_2

_CALLS 1 TGT_LATLONG 2525.000,12225.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_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 181036,2500.605,12254.059,38,1.0,43,-3.6 MHEAD_RNG_PITCHd_Wd 271.5,66362,-25.0,-13.200

SPEED_LIMITS 0.229,0.259 D_GRID 1593

Post-dive calculations and measurements:

FINISH 1.8,1.002268 _24V_AH 23.0,93.071

SM_CCo 14235,35.03,0.634,0,0,1595,475.15 _10V_AH 10.6,49.110

SM_GC 2.69,0.00,0.00,35.03,0.000,0.000,0.634,139,2350,1595,-7.63,-0.93,475.15 DATA_FILE_SIZE 69453,1298

IRIDIUM_FIX 2451.31,12251.97,141198,141454 CAP_FILE_SIZE 151094,0

TT8_MAMPS 0.029146 CFSIZE 260165632,183455744

HUMID 1800 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,1,0

INTERNAL_PRESSURE 9.36559 CURRENT 0.356, 41.0,1

TCM_TEMP 24.90 GPS 200809,221007,2502.844,12253.941,42,1.0,43,-3.6

XPDR_PINGS 2

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 27 233 146.27 SBE_CT 879 24 485.72

Roll_motor 129 54 162.58 Optode 904 33 686.88

VBD_pump_during_apogee 458 1384 14586.82 WL_BB2F 0 105 0.00

VBD_pump_during_surface 35 634 510.98 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 31 103 73.70 nil 0 0 0.00

Iridium_during_connect 31 160 116.78 nil 0 0 0.00

Iridium_during_xfer 222 223 1140.44

Transponder_ping 8 420 82.11

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 43 50 23.28

TT8 2329 19 489.00

LPSleep 8722 2 202.48

TT8_Active 615 19 129.16

TT8_Sampling 2358 39 994.91

TT8_CF8 711 45 345.60

TT8_Kalman 0 81 0.00

Analog_circuits 1808 12 230.05

GPS_charging 0 0 0.00

Compass 2267 8 192.25

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

13 end surface: CONTROL_FINISHED_OK

state 13 begin dive

16 -1.50 -121.7 0.0 0.0 0 42 0.00 0.00 -23.48 0.000 2 0.000 0.000 136 2358 2180

47 -1.50 -121.7 3.2 -2.6 4 118 8.15 2.25 -52.67 0.000 4 0.233 0.054 2084 3763 3990

267 -0.57 -121.7 84.1 -40.7 42 274 1.15 2.03 0.00 0.000 6 0.187 0.023 2395 2364 3992

615 -1.05 -121.7 119.3 -8.8 103 623 0.38 2.20 0.00 0.000 4 0.054 0.046 2233 3764 3994

689 -0.79 -121.7 133.0 -22.9 115 697 0.32 1.98 0.00 0.000 6 0.167 0.024 2323 2374 3995

1037 -1.01 -121.7 179.4 -9.8 176 1043 0.17 2.17 0.00 0.000 4 0.064 0.044 2238 3766 3997

1063 -1.01 -121.7 182.7 -12.0 180 1069 0.00 1.95 0.00 0.000 6 0.000 0.023 2238 2383 3997

1410 -0.89 -121.7 232.5 -16.7 241 1416 0.17 2.15 0.00 0.000 4 0.170 0.044 2281 3756 3997

1533 -0.96 -121.7 250.5 -14.5 262 1539 0.00 1.90 0.00 0.000 6 0.000 0.025 2281 2435 3997

1882 -1.12 -121.7 309.4 -16.7 319 1886 0.17 2.08 0.00 0.000 4 0.073 0.047 2205 3754 3997

1929 -0.92 -121.7 318.9 -22.5 323 1933 0.28 1.88 0.00 0.000 6 0.170 0.025 2280 2447 3997

2260 -1.11 -121.7 362.6 -10.0 354 2262 0.17 0.00 0.00 0.000 6 0.072 0.000 2210 2447 3997

2578 -1.03 -121.7 407.4 -13.6 384 2583 0.15 2.05 0.00 0.000 4 0.174 0.047 2240 3763 3997

2613 -1.03 -121.7 411.8 -11.9 387 2617 0.00 1.92 0.00 0.000 6 0.000 0.025 2240 2413 3997

2944 -1.08 -121.7 448.6 -12.5 418 2948 0.00 2.12 0.00 0.000 4 0.000 0.048 2233 3761 3995

3001 -1.08 -121.7 456.7 -14.3 423 3005 0.00 1.90 0.00 0.000 6 0.000 0.026 2233 2436 3995

3342 -1.15 -121.7 507.0 -15.1 453 3346 0.00 2.10 0.00 0.000 4 0.000 0.051 2233 3760 3993

3370 -1.15 -121.7 511.5 -15.3 454 3374 0.00 1.90 0.00 0.000 6 0.000 0.026 2233 2441 3993

3698 -1.24 -121.7 558.7 -13.9 470 3702 0.15 2.10 0.00 0.000 4 0.079 0.049 2166 3763 3991

3755 -1.05 -121.7 569.1 -19.7 472 3761 0.28 1.88 0.00 0.000 6 0.170 0.026 2239 2470 3990

4072 -1.19 -121.7 614.3 -13.8 488 4076 0.12 2.15 0.00 0.000 4 0.081 0.026 2190 1008 3989

4097 -1.25 -121.7 617.7 -14.3 489 4101 0.00 2.22 0.00 0.000 6 0.000 0.037 2190 2456 3989

4419 -1.20 -121.7 666.4 -14.4 505 4423 0.00 2.05 0.00 0.000 4 0.000 0.051 2183 3765 3986

4447 -1.11 -121.7 670.8 -14.8 506 4451 0.15 1.88 0.00 0.000 6 0.177 0.027 2220 2480 3986

4779 -1.21 -121.7 708.9 -11.6 522 4783 0.00 2.05 0.00 0.000 4 0.000 0.054 2220 3763 3982

4842 -1.27 -121.7 716.8 -11.7 524 4848 0.15 1.85 0.00 0.000 6 0.079 0.028 2164 2498 3982

5160 -1.15 -121.7 765.8 -15.9 540 5164 0.17 2.03 0.00 0.000 4 0.178 0.051 2205 3758 3980

5205 -1.15 -121.7 772.9 -14.1 542 5209 0.00 1.85 0.00 0.000 6 0.000 0.029 2205 2501 3979

5539 -1.20 -121.7 814.4 -11.7 558 5543 0.00 2.03 0.00 0.000 4 0.000 0.054 2205 3762 3977

5591 -1.20 -121.7 821.0 -13.1 560 5595 0.00 1.88 0.00 0.000 6 0.000 0.029 2205 2512 3976

5919 -1.26 -121.7 864.6 -13.9 576 5923 0.00 2.00 0.00 0.000 4 0.000 0.054 2205 3757 3974

6056 -1.26 -121.7 885.4 -15.3 582 6060 0.00 1.85 0.00 0.000 6 0.000 0.029 2205 2529 3973

6390 -1.31 -121.7 936.2 -14.8 598 6394 0.15 1.98 0.00 0.000 4 0.077 0.054 2146 3750 3971

6481 -1.08 -121.7 953.2 -20.5 602 6485 0.32 1.80 0.00 0.000 6 0.182 0.030 2230 2543 3971

6789 end dive: TARGET_DEPTH_EXCEEDED

state 6789 begin apogee

6797 -0.27 0.0 990.9 10.7 617 6902 0.88 0.00 96.18 1.384 6 0.154 0.000 2489 2405 3532

6903 end apogee: CONTROL_FINISHED_OK

state 6903 begin climb

6906 1.50 121.7 993.7 0.0 622 7021 1.60 2.35 105.60 1.364 4 0.058 0.049 3062 3762 3035

7241 0.66 121.7 960.8 18.4 637 7246 1.12 2.12 0.00 0.000 6 0.224 0.027 2794 2355 3031

7559 0.76 165.6 928.7 10.0 652 7601 0.00 2.33 37.30 1.320 4 0.000 0.054 2794 3749 2856

7630 0.76 165.6 920.1 14.5 655 7637 0.00 2.15 0.00 0.000 6 0.000 0.028 2802 2342 2854

7946 0.87 165.6 877.1 13.3 671 7951 0.17 2.28 0.00 0.000 4 0.081 0.051 2875 3751 2851

8020 0.61 165.6 864.4 18.1 674 8025 0.40 2.08 0.00 0.000 6 0.193 0.028 2781 2363 2851

8337 0.83 210.2 828.2 10.0 689 8380 0.20 2.38 37.38 1.284 4 0.084 0.053 2860 3759 2674

8469 0.70 210.2 809.4 15.8 694 8476 0.22 2.10 0.00 0.000 6 0.192 0.028 2813 2384 2671

8786 0.88 238.2 772.5 11.2 710 8816 0.15 2.30 23.98 1.231 4 0.087 0.054 2870 3754 2561

8875 0.75 238.2 758.5 19.3 714 8880 0.22 2.08 0.00 0.000 6 0.188 0.028 2822 2379 2558

9208 0.91 241.3 716.0 13.0 730 9218 0.15 2.28 3.75 0.763 4 0.084 0.054 2880 3755 2548

9342 0.79 241.3 695.1 16.9 735 9350 0.20 2.03 0.00 0.000 6 0.189 0.028 2837 2396 2547

9658 0.92 259.2 655.4 11.9 751 9682 0.12 2.17 16.15 1.154 4 0.089 0.033 2890 966 2474

9774 0.93 263.0 640.2 12.9 756 9784 0.00 2.25 4.75 0.861 6 0.000 0.035 2889 2414 2459

10107 0.93 263.0 594.3 13.7 772 10111 0.00 2.20 0.00 0.000 4 0.000 0.032 2899 972 2457

10192 0.93 263.0 583.0 14.0 775 10200 0.00 2.22 0.00 0.000 6 0.000 0.035 2899 2410 2456

10508 0.93 263.0 533.4 15.3 791 10509 0.00 0.00 0.00 0.000 6 0.000 0.000 2899 2410 2456

10820 0.93 263.0 485.3 16.4 810 10821 0.00 0.00 0.00 0.000 6 0.000 0.000 2899 2410 2456

11140 0.93 263.0 435.5 14.8 840 11144 0.00 2.17 0.00 0.000 4 0.000 0.033 2906 973 2455

11242 0.93 263.0 420.5 14.7 849 11245 0.00 2.20 0.00 0.000 6 0.000 0.036 2905 2402 2455

11577 0.93 263.0 369.7 16.3 880 11580 0.00 2.17 0.00 0.000 4 0.000 0.032 2912 965 2455

11668 0.93 263.0 355.2 15.5 888 11673 0.12 2.17 0.00 0.000 6 0.179 0.035 2882 2380 2454

11994 1.00 263.7 308.9 13.1 918 11998 0.00 2.12 0.00 0.000 4 0.000 0.034 2887 974 2454

12052 1.15 278.0 301.7 12.2 923 12075 0.17 2.20 13.30 0.910 6 0.076 0.037 2953 2402 2398

12418 1.03 278.0 243.9 16.0 985 12424 0.17 2.17 0.00 0.000 4 0.183 0.031 2912 971 2396

12506 1.11 278.0 229.3 16.3 1000 12512 0.00 2.17 0.00 0.000 6 0.000 0.035 2912 2389 2395

12853 1.11 278.0 165.9 14.5 1061 12859 0.00 2.15 0.00 0.000 4 0.000 0.050 2912 3757 2395

12912 1.11 278.0 156.9 15.0 1071 12919 0.00 2.03 0.00 0.000 6 0.000 0.026 2912 2388 2395

13260 1.24 311.0 116.5 10.8 1132 13295 0.17 2.22 27.60 0.770 4 0.078 0.050 2984 3767 2263

13337 1.03 311.0 104.4 17.1 1145 13345 0.30 2.10 0.00 0.000 6 0.187 0.026 2917 2364 2261

13685 1.32 384.2 62.2 7.9 1206 13752 0.22 2.17 57.65 0.713 4 0.071 0.031 3019 968 1963

13947 1.53 427.4 34.7 10.1 1251 13989 0.15 2.12 34.47 0.667 6 0.077 0.034 3079 2347 1789

14190 end climb: SURFACE_DEPTH_REACHED

state 14191 begin surface coast

14214 end surface coast: CONTROL_FINISHED_OK

state 14215 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	531	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	72	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	39	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	-19664.85	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	180237,2500.379,12253.801,24,2.0,25,-3.6	TGT_NAME	IN_2
_CALLS	1	TGT_LATLONG	2525.000,12225.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_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	181036,2500.605,12254.059,38,1.0,43,-3.6	MHEAD_RNG_PITCHd_Wd	271.5,66362,-25.0,-13.200
SPEED_LIMITS	0.229,0.259	D_GRID	1593

FINISH	1.8,1.002268	_24V_AH	23.0,93.071
SM_CCo	14235,35.03,0.634,0,0,1595,475.15	_10V_AH	10.6,49.110
SM_GC	2.69,0.00,0.00,35.03,0.000,0.000,0.634,139,2350,1595,-7.63,-0.93,475.15	DATA_FILE_SIZE	69453,1298
IRIDIUM_FIX	2451.31,12251.97,141198,141454	CAP_FILE_SIZE	151094,0
TT8_MAMPS	0.029146	CFSIZE	260165632,183455744
HUMID	1800	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
INTERNAL_PRESSURE	9.36559	CURRENT	0.356, 41.0,1
TCM_TEMP	24.90	GPS	200809,221007,2502.844,12253.941,42,1.0,43,-3.6
XPDR_PINGS	2

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	27	233	146.27	SBE_CT	879	24	485.72
Roll_motor	129	54	162.58	Optode	904	33	686.88
VBD_pump_during_apogee	458	1384	14586.82	WL_BB2F	0	105	0.00
VBD_pump_during_surface	35	634	510.98	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	31	103	73.70	nil	0	0	0.00
Iridium_during_connect	31	160	116.78	nil	0	0	0.00
Iridium_during_xfer	222	223	1140.44
Transponder_ping	8	420	82.11
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	43	50	23.28
TT8	2329	19	489.00
LPSleep	8722	2	202.48
TT8_Active	615	19	129.16
TT8_Sampling	2358	39	994.91
TT8_CF8	711	45	345.60
TT8_Kalman	0	81	0.00
Analog_circuits	1808	12	230.05
GPS_charging	0	0	0.00
Compass	2267	8	192.25
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
13	end surface: CONTROL_FINISHED_OK
state	13	begin dive
16	-1.50	-121.7	0.0	0.0	0	42	0.00	0.00	-23.48	0.000	2	0.000	0.000	136	2358	2180
47	-1.50	-121.7	3.2	-2.6	4	118	8.15	2.25	-52.67	0.000	4	0.233	0.054	2084	3763	3990
267	-0.57	-121.7	84.1	-40.7	42	274	1.15	2.03	0.00	0.000	6	0.187	0.023	2395	2364	3992
615	-1.05	-121.7	119.3	-8.8	103	623	0.38	2.20	0.00	0.000	4	0.054	0.046	2233	3764	3994
689	-0.79	-121.7	133.0	-22.9	115	697	0.32	1.98	0.00	0.000	6	0.167	0.024	2323	2374	3995
1037	-1.01	-121.7	179.4	-9.8	176	1043	0.17	2.17	0.00	0.000	4	0.064	0.044	2238	3766	3997
1063	-1.01	-121.7	182.7	-12.0	180	1069	0.00	1.95	0.00	0.000	6	0.000	0.023	2238	2383	3997
1410	-0.89	-121.7	232.5	-16.7	241	1416	0.17	2.15	0.00	0.000	4	0.170	0.044	2281	3756	3997
1533	-0.96	-121.7	250.5	-14.5	262	1539	0.00	1.90	0.00	0.000	6	0.000	0.025	2281	2435	3997
1882	-1.12	-121.7	309.4	-16.7	319	1886	0.17	2.08	0.00	0.000	4	0.073	0.047	2205	3754	3997
1929	-0.92	-121.7	318.9	-22.5	323	1933	0.28	1.88	0.00	0.000	6	0.170	0.025	2280	2447	3997
2260	-1.11	-121.7	362.6	-10.0	354	2262	0.17	0.00	0.00	0.000	6	0.072	0.000	2210	2447	3997
2578	-1.03	-121.7	407.4	-13.6	384	2583	0.15	2.05	0.00	0.000	4	0.174	0.047	2240	3763	3997
2613	-1.03	-121.7	411.8	-11.9	387	2617	0.00	1.92	0.00	0.000	6	0.000	0.025	2240	2413	3997
2944	-1.08	-121.7	448.6	-12.5	418	2948	0.00	2.12	0.00	0.000	4	0.000	0.048	2233	3761	3995
3001	-1.08	-121.7	456.7	-14.3	423	3005	0.00	1.90	0.00	0.000	6	0.000	0.026	2233	2436	3995
3342	-1.15	-121.7	507.0	-15.1	453	3346	0.00	2.10	0.00	0.000	4	0.000	0.051	2233	3760	3993
3370	-1.15	-121.7	511.5	-15.3	454	3374	0.00	1.90	0.00	0.000	6	0.000	0.026	2233	2441	3993
3698	-1.24	-121.7	558.7	-13.9	470	3702	0.15	2.10	0.00	0.000	4	0.079	0.049	2166	3763	3991
3755	-1.05	-121.7	569.1	-19.7	472	3761	0.28	1.88	0.00	0.000	6	0.170	0.026	2239	2470	3990
4072	-1.19	-121.7	614.3	-13.8	488	4076	0.12	2.15	0.00	0.000	4	0.081	0.026	2190	1008	3989
4097	-1.25	-121.7	617.7	-14.3	489	4101	0.00	2.22	0.00	0.000	6	0.000	0.037	2190	2456	3989
4419	-1.20	-121.7	666.4	-14.4	505	4423	0.00	2.05	0.00	0.000	4	0.000	0.051	2183	3765	3986
4447	-1.11	-121.7	670.8	-14.8	506	4451	0.15	1.88	0.00	0.000	6	0.177	0.027	2220	2480	3986
4779	-1.21	-121.7	708.9	-11.6	522	4783	0.00	2.05	0.00	0.000	4	0.000	0.054	2220	3763	3982
4842	-1.27	-121.7	716.8	-11.7	524	4848	0.15	1.85	0.00	0.000	6	0.079	0.028	2164	2498	3982
5160	-1.15	-121.7	765.8	-15.9	540	5164	0.17	2.03	0.00	0.000	4	0.178	0.051	2205	3758	3980
5205	-1.15	-121.7	772.9	-14.1	542	5209	0.00	1.85	0.00	0.000	6	0.000	0.029	2205	2501	3979
5539	-1.20	-121.7	814.4	-11.7	558	5543	0.00	2.03	0.00	0.000	4	0.000	0.054	2205	3762	3977
5591	-1.20	-121.7	821.0	-13.1	560	5595	0.00	1.88	0.00	0.000	6	0.000	0.029	2205	2512	3976
5919	-1.26	-121.7	864.6	-13.9	576	5923	0.00	2.00	0.00	0.000	4	0.000	0.054	2205	3757	3974
6056	-1.26	-121.7	885.4	-15.3	582	6060	0.00	1.85	0.00	0.000	6	0.000	0.029	2205	2529	3973
6390	-1.31	-121.7	936.2	-14.8	598	6394	0.15	1.98	0.00	0.000	4	0.077	0.054	2146	3750	3971
6481	-1.08	-121.7	953.2	-20.5	602	6485	0.32	1.80	0.00	0.000	6	0.182	0.030	2230	2543	3971
6789	end dive: TARGET_DEPTH_EXCEEDED
state	6789	begin apogee
6797	-0.27	0.0	990.9	10.7	617	6902	0.88	0.00	96.18	1.384	6	0.154	0.000	2489	2405	3532
6903	end apogee: CONTROL_FINISHED_OK
state	6903	begin climb
6906	1.50	121.7	993.7	0.0	622	7021	1.60	2.35	105.60	1.364	4	0.058	0.049	3062	3762	3035
7241	0.66	121.7	960.8	18.4	637	7246	1.12	2.12	0.00	0.000	6	0.224	0.027	2794	2355	3031
7559	0.76	165.6	928.7	10.0	652	7601	0.00	2.33	37.30	1.320	4	0.000	0.054	2794	3749	2856
7630	0.76	165.6	920.1	14.5	655	7637	0.00	2.15	0.00	0.000	6	0.000	0.028	2802	2342	2854
7946	0.87	165.6	877.1	13.3	671	7951	0.17	2.28	0.00	0.000	4	0.081	0.051	2875	3751	2851
8020	0.61	165.6	864.4	18.1	674	8025	0.40	2.08	0.00	0.000	6	0.193	0.028	2781	2363	2851
8337	0.83	210.2	828.2	10.0	689	8380	0.20	2.38	37.38	1.284	4	0.084	0.053	2860	3759	2674
8469	0.70	210.2	809.4	15.8	694	8476	0.22	2.10	0.00	0.000	6	0.192	0.028	2813	2384	2671
8786	0.88	238.2	772.5	11.2	710	8816	0.15	2.30	23.98	1.231	4	0.087	0.054	2870	3754	2561
8875	0.75	238.2	758.5	19.3	714	8880	0.22	2.08	0.00	0.000	6	0.188	0.028	2822	2379	2558
9208	0.91	241.3	716.0	13.0	730	9218	0.15	2.28	3.75	0.763	4	0.084	0.054	2880	3755	2548
9342	0.79	241.3	695.1	16.9	735	9350	0.20	2.03	0.00	0.000	6	0.189	0.028	2837	2396	2547
9658	0.92	259.2	655.4	11.9	751	9682	0.12	2.17	16.15	1.154	4	0.089	0.033	2890	966	2474
9774	0.93	263.0	640.2	12.9	756	9784	0.00	2.25	4.75	0.861	6	0.000	0.035	2889	2414	2459
10107	0.93	263.0	594.3	13.7	772	10111	0.00	2.20	0.00	0.000	4	0.000	0.032	2899	972	2457
10192	0.93	263.0	583.0	14.0	775	10200	0.00	2.22	0.00	0.000	6	0.000	0.035	2899	2410	2456
10508	0.93	263.0	533.4	15.3	791	10509	0.00	0.00	0.00	0.000	6	0.000	0.000	2899	2410	2456
10820	0.93	263.0	485.3	16.4	810	10821	0.00	0.00	0.00	0.000	6	0.000	0.000	2899	2410	2456
11140	0.93	263.0	435.5	14.8	840	11144	0.00	2.17	0.00	0.000	4	0.000	0.033	2906	973	2455
11242	0.93	263.0	420.5	14.7	849	11245	0.00	2.20	0.00	0.000	6	0.000	0.036	2905	2402	2455
11577	0.93	263.0	369.7	16.3	880	11580	0.00	2.17	0.00	0.000	4	0.000	0.032	2912	965	2455
11668	0.93	263.0	355.2	15.5	888	11673	0.12	2.17	0.00	0.000	6	0.179	0.035	2882	2380	2454
11994	1.00	263.7	308.9	13.1	918	11998	0.00	2.12	0.00	0.000	4	0.000	0.034	2887	974	2454
12052	1.15	278.0	301.7	12.2	923	12075	0.17	2.20	13.30	0.910	6	0.076	0.037	2953	2402	2398
12418	1.03	278.0	243.9	16.0	985	12424	0.17	2.17	0.00	0.000	4	0.183	0.031	2912	971	2396
12506	1.11	278.0	229.3	16.3	1000	12512	0.00	2.17	0.00	0.000	6	0.000	0.035	2912	2389	2395
12853	1.11	278.0	165.9	14.5	1061	12859	0.00	2.15	0.00	0.000	4	0.000	0.050	2912	3757	2395
12912	1.11	278.0	156.9	15.0	1071	12919	0.00	2.03	0.00	0.000	6	0.000	0.026	2912	2388	2395
13260	1.24	311.0	116.5	10.8	1132	13295	0.17	2.22	27.60	0.770	4	0.078	0.050	2984	3767	2263
13337	1.03	311.0	104.4	17.1	1145	13345	0.30	2.10	0.00	0.000	6	0.187	0.026	2917	2364	2261
13685	1.32	384.2	62.2	7.9	1206	13752	0.22	2.17	57.65	0.713	4	0.071	0.031	3019	968	1963
13947	1.53	427.4	34.7	10.1	1251	13989	0.15	2.12	34.47	0.667	6	0.077	0.034	3079	2347	1789
14190	end climb: SURFACE_DEPTH_REACHED
state	14191	begin surface coast
14214	end surface coast: CONTROL_FINISHED_OK
state	14215	begin surface